Worked on the ArduPilot/ardupilot repository, focusing on embedded systems and robotics using C++. Addressed a critical issue in the ArduSub/mode_acro module by fixing a bug in the throttle input handling logic. The solution ensured that pilot throttle inputs were accurately translated into throttle outputs, reducing input lag and stabilizing control responsiveness. This improvement enhanced both flight safety and reliability by correcting the throttle output path within the flight control logic. The fix was validated with no regressions and prepared for broader testing, demonstrating a methodical approach to problem-solving and a strong understanding of C++ programming in embedded robotics applications.