Worked on enhancing autonomous drone flight stability and mission repeatability within the acsl-tcu/common_matlab repository. Focused on refining control systems by fine-tuning thrust-to-throttle conversion gains and offsets, which improved the responsiveness of the drone’s embedded control algorithms. Updated the reference trajectory to a circular path, aligning test scenarios more closely with mission planning requirements. Adjusted takeoff altitude parameters to ensure safer and more consistent ascent during test flights. All changes were implemented using MATLAB, leveraging expertise in embedded systems and robotics. The work demonstrated a methodical approach to feature development, emphasizing precise control and robust trajectory tracking for aerial robotics.