This assumes you are quite competent with a computer, git, building AOSP, and generally know what you are doing, otherwise you would not be trying to submit source code.
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You will need to setup ssh keys in the account to push to your account, they have a nice tutorial
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Fork the Repo's you plan to modify to your Github account. (be sure you have the correct branch selected when forking)
Using the command line “git clone” the chosen repo, make sure you are on the correct branch!!
Modify code, build, test, modify code, build, test, modify code, build test…
When modifications are complete “git push” to your repo.
Go to gitub.com, select the modified repo, click submit pull request.
We will be notified of the pull request, review the code, and submit the modifications at our discretion.
Thank you for helping us make a better rom for everyone!