Worked on enhancing the robustness of ARDUPILOT’s terrain handling by addressing a critical edge case in the AP_Terrain module. Introduced a pre-arm validation step to ensure the TERRAIN_SPACING parameter is greater than zero, preventing division-by-zero errors during terrain data processing. This early validation approach reduces runtime risks and improves the reliability of autonomous flight missions by catching invalid configurations before deployment. The solution was implemented in C++ and leveraged embedded systems and flight control software expertise. All changes were contributed directly to the peterbarker/ardupilot repository, focusing on safer and more predictable terrain data management for flight operations.