Downhole drilling utilizing measurements from multiple sensors

A method of controlling a downhole portion of a drill string, the method comprising:

• receiving one or more first signals from a first sensor package mounted at a first position to the downhole portion within a wellbore, the one or more first signals indicative of an orientation of the first sensor package;
• receiving one or more second signals from a second sensor package mounted at a second position to the downhole portion within the wellbore, the one or more second signals indicative of an orientation of the second sensor package;
• calculating a first amount of bend of the downhole portion between the first sensor package and the second sensor package in response to the one or more first signals and the one or more second signals;
• and
• transmitting control signals to an actuator of the downhole portion in response to the first amount of bend, wherein the actuator is responsive to the control signals by adjusting the downhole portion to have a second amount of bend between the first sensor package and the second sensor package, the second amount of bend different from the first amount of bend.