diff --git a/README.md b/README.md
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 - [Code](guidelines/code.md)
 - [Style](guidelines/style.md)
+- [Embedded Development](guidelines/embedded.md)
 - [Version Control](guidelines/version-control.md)
 - [Communication](guidelines/communication.md)
 - [AI Prompting](guidelines/ai-prompting.md)
diff --git a/guidelines/embedded.md b/guidelines/embedded.md
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+# Embedded Development Guidelines
+
+These guidelines apply to embedded and safety-critical firmware projects. Follow project-
+specific rules first (e.g., ArduPilot and JSF style guide), then apply the rules below for any gaps.
+When these rules conflict with a project standard, the project standard wins.
+
+## General
+
+- Follow the project code style and keep it consistent within each file.
+- Prefer small, focused functions over long procedural blocks.
+- Prefer compile-time checksm add run-time checks for safety-critical paths.
+- Encapsulate low-level or hardware-specific code behind clear interfaces.
+- Do not add unused or commented-out code unless it is justified and documented.
+
+## Core constraints (JSF AV-inspired)
+
+- Keep functions under 200 logical source lines.
+- Keep cyclomatic complexity at or below 20 (exceptions only for large switch statements).
+- Do not use self-modifying code. (Up to discussion)
+- Use ISO/IEC 14882:2017-compliant C++ (C++17) or newer, do not rely on compiler extensions.
+- When possible, pass the compiler flag to disable extensions (e.g., `-fno-gnu-extensions` for GCC/Clang).
+- Use only the basic C++ source character set, do not use trigraphs, digraphs, multibyte
+  characters, or wide string literals.
+
+## Preprocessor rules
+
+- Only use `#pragma once` and `#include`
+- Do not use `#define` for inline macros or constants, use `inline`, `const`, `constexpr`, or `consteval` instead.
+- `#include` only header files (template implementations may be included by headers).
+
+## Header and implementation structure
+
+- `.h` for headers, `.cpp` for implementations.
+- Headers contain declarations only, no non-const data or function definitions.
+  - Exceptions: inline functions and templates.
+- Each `.cpp` includes the headers that define all inline functions, types, and templates it uses.
+- Header files should include only what they need, keep implementation-only includes in `.cpp`.
+
+## Style and naming
+
+- Avoid tabs, indent consistently (use 2 or four spaces, be consistent with the project).
+- Use braces for all control statements.
+- Braces for blocks on their own lines and aligned.
+- No spaces around `.` or `->`, and no spaces around unary operators.
+- Naming rules follow the project standard. If none is defined, use:
+  - `lower_snake_case` for functions and variables
+  - `UpperCamel_Case` for classes, structs, enums, and typedefs (e.g., `AP_Compass`)
+  - lowercase constants and enumerators
+  - uppercase acronyms inside identifiers (e.g., `GCS_MAVLink`)
+  - use underscore for private properties
+
+## Class design
+
+- Use `struct` for plain data, `class` for invariants and encapsulation.
+- Keep data members private, avoid public/protected data in classes.
+- Declare member functions as `const` by default.
+- Use `constexpr` or `consteval` for functions and variables that can be evaluated at compile time.
+- Do not call virtual functions from constructors or destructors.
+- Use member initializer lists for non-static members.
+- Declare copy/assignment when owning pointers or nontrivial destructors.
+- Base classes with virtual functions must have virtual destructors.
+
+## Documentation
+
+- Document units in names or comments for physical quantities.
+- Prefer doxygen-style comments for C++ projects.
+
+## Embedded-specific constraints
+
+- Avoid the C++ standard library (`std::vector`, `std::string`, `std::unordered_map`)
+  unless the platform and toolchain explicitly support it and memory costs are measured.
+- Prefer fixed-size arrays, if dynamic containers are needed, use project-approved
+  alternatives.
+- Avoid bit fields, use plain booleans.
+- Remove dead code, do not comment out unused code.
+- Prefer multiplication over division for unit conversions.
+- Use `constexpr` for compile-time constants and lookup tables, use `consteval` (C++20+)
+  when a value must be evaluated at compile time.
+
+## Testing and verification
+
+- Tests must exercise safety-critical paths and any new hardware interactions.
+- Add logging or assertions that can be compiled out for production builds.
+- Ensure CI covers at least one supported target and simulator when available.
+
+## Portability and build
+
+- Target multiple embedded platforms when feasible, avoid vendor-locked toolchains.
+- Make dependencies and build steps explicit and reproducible.
+
+## References
+
+- JSF Air Vehicle C++ Coding Standards (Stroustrup): https://www.stroustrup.com/JSF-AV-rules.pdf
+- ArduPilot Style Guide: https://ardupilot.org/dev/docs/style-guide.html
diff --git a/guidelines/style.md b/guidelines/style.md
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--- a/guidelines/style.md
+++ b/guidelines/style.md
@@ -1,6 +1,6 @@
 # Style Guidelines
 
-When contributing to projects owned by other entities, adhere to any guidelines set forth by those entities (eg. ardupilot). The style guidelines for projects owned by Blue Robotics is documented here.
+When contributing to projects owned by other entities, adhere to any guidelines set forth by those entities (eg. ArduPilot). The style guidelines for projects owned by Blue Robotics is documented here.
 
 ## Code