Worked on the PX4-Autopilot repository, focusing on improving the reliability and maintainability of actuator output handling in an embedded systems context. Addressed a critical bug by removing an unnecessary actuator output uORB subscription, which clarified code intent and reduced the risk of unintended side effects in the simulation programming workflow. This targeted refactor streamlined the subscription model, resulting in a leaner and more stable runtime environment for actuator outputs. Utilized C++ to implement these changes, demonstrating attention to code clarity and future maintenance. The work contributed to a more robust actuator output path without introducing new features during the period.