May 2026 monthly summary: Delivered cross-platform feature parity and reliability improvements across peterbarker/ardupilot and ArduPilot/ardupilot. Key features delivered: - RC Override Clearing via Pilot Input (RC_OPTIONS) across Copter and Rover: consolidated changes to clear RC overrides when pilot input changes, added RC_OPTIONS support and tests to verify override clearing behavior. - RPLidar S2 Dense Express Scan Mode Support: added for S2 with per-packet checksum validation, optimized processing path, and robust data handling. Major fixes and improvements: - RC_OVERRIDE clearing logic stabilized across Rover, Copter, and ArduSub implementations, ensuring overrides clear when RC sticks exceed deadzones. - Core reliability improvements for dense express mode data path with safeguards against overflow/underflow and faster main loop response. System impact and business value: - Rover proximity update rate increased to 200 Hz, enhancing obstacle detection and situational awareness. - Copter AP_Proximity scheduler timing tuned to 200 µs, improving update timing accuracy and overall responsiveness. - Cross-platform work reduces maintenance burden and accelerates feature parity across platforms. Technologies and skills demonstrated: - Cross-platform C++ development across Copter, Rover, and Sub platforms. - Real-time sensor data processing, per-packet checksum validation, and direct read-path optimizations. - Test automation and autotest coverage for RC_OPTIONS and dense express mode.

2026-01 Monthly summary for ArduPilot/ardupilot focusing on feature delivery and improvements in SITL simulation and UI for payload operations.

Month: 2025-12 focused on delivering high-value sensor simulation improvements for ArduPilot. Key accomplishment: added simulated RPLidarS2 support in SITL to enable more realistic lidar data in robotics simulations, including enhancements to sensor scanning modes and data handling for dense express scans to improve fidelity and processing efficiency. This work strengthens the SITL simulation pipeline, enabling safer, faster validation of perception stacks and mission planning in a simulated environment.

In 2025-11, focused on safety and naming clarity in OpenDroneID. Delivered a feature refinement by renaming EnforceArming to EnforcePreArmChecks to better reflect pre-arm checks. This change was implemented in ArduPilot/ardupilot with commit f29b062e408d52fd39117a5292bdba4f44834f17, improving code readability, reducing risk of misinterpretation during pre-arm sequences, and easing developer onboarding. No major bugs fixed this period; the focus was on safety posture and maintainability.

April 2025 monthly summary for ArduPilot/ardupilot highlighting two key deliverables that improved reliability and data quality: - SCHA63T Temperature Reporting Bug: Accurate Temperature Conversion — fixed by casting the temperature value to a signed 16-bit integer before use, improving the accuracy of temperature reporting. Commit: a1b201414220c73d90da8df139d0bfe0e30921e2. - DroneCAN Battery Monitors: Dynamic Node ID Updates During Hot-Swapping — added dynamic node ID updates for DroneCAN battery monitors when hot-swapping; if a battery's ID matches but the node ID is lost and dynamic updates are enabled, the system updates the node ID and re-initializes telemetry to resume monitoring. Commit: ebc7e1349d10ec723315966f601e5e7b65e6a879. Impact: improved sensor data fidelity and telemetry continuity with reduced downtime during hot-swaps. Demonstrates competence in embedded C/C++, sensor data handling, telemetry management, and dynamic configuration.