Developed initial support for the Voltafield AF9838 magnetometer within the PX4-Autopilot repository, focusing on driver implementation and sensor integration for embedded systems. The work involved creating a C++ driver leveraging I2C communication, introducing configuration options to enable flexible deployment across platforms. Refactoring efforts targeted code readability and maintainability, including the removal of unused logic and parameters, as well as simplifying the command-line interface to reduce configuration complexity. These improvements streamlined sensor integration workflows and lowered the maintenance burden for future development. The approach emphasized clean architecture and code quality, supporting accelerated field deployments and robust embedded driver development.