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Partition computing of the new Integrated Modular Avionics architecture reduces the heavy cabling of traditional federated architecture. On the other hand, fault-tolerant Operational Flight Programs (OFP) for unmanned aerial vehicles have usually been implemented as primary-backup systems based on dual nodes. However, in the case of a small UAV, it is preferred to implement a S/W fault-tolerant system that runs primary and recovery systems together in a single flight control computer to reducedoi:10.1016/j.ieri.2013.11.036 fatcat:bmdfhff72zebdcyn4b5pckxu2q