Systems and methods for arbitrating sensor and actuator signals in a multi-channel control system

An aircraft, comprising:

• a plurality of non-redundant systems;
• a plurality of system buses configured to transmit redundant messages to the plurality of non-redundant systems;
• a plurality of computation circuits, each computation circuit coupled to one of the plurality of system buses;
• and
• an arbitration apparatus coupled between the plurality of non-redundant systems and the plurality of system buses, the arbitration apparatus configured to select only one of the redundant messages for transmission to one of the plurality of non-redundant systems,
• the arbitration apparatus further coupled to each of the plurality of computation circuits, each computation circuit coupled to one of the plurality of system buses, each computation circuit coupled to and in communication with the arbitration apparatus,
• the arbitration apparatus configured to select one of the plurality of redundant computation circuits for receipt of the one of the redundant messages based on a reported health status of each redundant computation circuit, the reported health status of each redundant computation circuit based upon at least one of:
• a detected fault in the redundant computation circuit or data congestion detected in the computations performed by the redundant computation circuit.