A hydraulic actuator control system for a piece of construction equipment including a boom and a bucket pivotally connected to the boom, the piece of construction equipment including a lift cylinder for raising and lowering the boom and a tilt cylinder for pivoting the bucket relative to the boom, characterised by the actuator control system comprising: a tilt cylinder control node including a head side tilt valve (V th) adapted to be in fluid communication with a head side of the tilt cylinder and a rod side tilt valve (V tr) adapted to be in fluid communication with a rod side of the tilt cylinder, the tilt cylinder control node further including a first head side spool position sensor (X th) corresponding to the head side tilt valve, a first rod side spool position sensor (X tr) corresponding to the rod side tilt valve, a first head side pressure sensor (P th) for sensing a pressure of the head side of the tilt cylinder, and a first rod side pressure sensor (P tr) for sensing a pressure of the rod side of the tilt cylinder; a lift cylinder control node including a head side lift valve (V lh) adapted to be in fluid communication with a head side of the lift cylinder and a rod side lift valve (V lr) adapted to be in fluid communication with a rod side of the lift cylinder, the lift cylinder control node further including a second head side spool position sensor (X lh) corresponding to the head side lift valve, a second rod side spool position sensor (X lr) corresponding to the rod side lift valve, a second head side pressure sensor (P lh) for sensing a pressure of the head side of the lift cylinder, and a second rod side pressure sensor (P lr) for sensing a pressure of the rod side of the lift cylinder; a control system that uses a first fault detection algorithm for detecting a fault in the tilt cylinder control node, the first fault detection algorithm including a first flow value corresponding to flow through the head side tilt valve (V th) and a second flow value corresponding to flow through the rod side tilt valve (V tr); and the control system also using a second fault detection algorithm for detecting a fault in the lift cylinder control node, the second fault detection algorithm including a third flow value corresponding to flow through the head side lift valve (V lh) and a fourth flow value corresponding to flow through the rod side lift valve(V lr). a tilt cylinder control node including a head side tilt valve (V th) adapted to be in fluid communication with a head side of the tilt cylinder and a rod side tilt valve (V tr) adapted to be in fluid communication with a rod side of the tilt cylinder, the tilt cylinder control node further including a first head side spool position sensor (X th) corresponding to the head side tilt valve, a first rod side spool position sensor (X tr) corresponding to the rod side tilt valve, a first head side pressure sensor (P th) for sensing a pressure of the head side of the tilt cylinder, and a first rod side pressure sensor (P tr) for sensing a pressure of the rod side of the tilt cylinder; a lift cylinder control node including a head side lift valve (V lh) adapted to be in fluid communication with a head side of the lift cylinder and a rod side lift valve (V lr) adapted to be in fluid communication with a rod side of the lift cylinder, the lift cylinder control node further including a second head side spool position sensor (X lh) corresponding to the head side lift valve, a second rod side spool position sensor (X lr) corresponding to the rod side lift valve, a second head side pressure sensor (P lh) for sensing a pressure of the head side of the lift cylinder, and a second rod side pressure sensor (P lr) for sensing a pressure of the rod side of the lift cylinder; a control system that uses a first fault detection algorithm for detecting a fault in the tilt cylinder control node, the first fault detection algorithm including a first flow value corresponding to flow through the head side tilt valve (V th) and a second flow value corresponding to flow through the rod side tilt valve (V tr); and the control system also using a second fault detection algorithm for detecting a fault in the lift cylinder control node, the second fault detection algorithm including a third flow value corresponding to flow through the head side lift valve (V lh) and a fourth flow value corresponding to flow through the rod side lift valve(V lr).