Worked on enhancing sensor data reliability in the ArduPilot/ardupilot repository by improving the KellerLD barometer driver using C++ within an embedded systems context. Addressed a critical bug by implementing strict status-byte validation, ensuring that only valid measurement samples were processed and invalid data was rejected before reaching the EKF. This approach reduced altitude and depth spikes caused by I2C jitter and electromagnetic interference, particularly in environments with long sensor cables. The solution introduced robust defensive data validation without altering the API or core behavior, enabling safe integration into existing flight stacks and improving measurement accuracy in driver development workflows.