[sitkack]

Seems like the kind of thing one would have multiple of, along with voting, it should also contain a kalman filter. The software correcting the rotation should have been run in a tighter feedback loop so that it would stop making the problem worse.

Lots of these subsystems can be tested in a pure software simulator. Esp when it comes to faults.

[sitkack]

Thinking about it further, the simulator should consume the logs from the existing system and map those logs from existing simulation runs, use a form of compressed sensing and pattern matching to figure out what is occurring just from the logs and previous simulation runs.