Yann Otchoun developed an Axle Speed Estimation feature for the concordia-fsae/firmware repository, enabling calculation of axle speed from individual wheel speeds. Using C programming and leveraging CAN bus communication within embedded systems, Yann refined the handling of rotational velocity data to reduce noise and improve the reliability of speed readings. This technical approach enhanced the fidelity of speed measurements, directly supporting more stable vehicle control loops and laying the groundwork for future safety features. The work demonstrated a focused application of vehicle control systems knowledge, delivering a foundational improvement to the firmware’s speed sensing and control capabilities within one month.