A flight control system, comprising: a higher level flight computer configured to control a position and velocity of an aircraft; and a plurality of lower level flight computers , wherein a first lower level flight computer of the plurality of lower level flight computers comprises a set of sensors and a processor configured to: control an attitude of the aircraft by determining an actual attitude or attitude rate of the aircraft and comparing the actual attitude or attitude rate to a desired attitude or attitude rate; produce a set of commands for each actuator included in a set of actuators (208, 210, 212, 214; 402, 406, 410, 414; 502, 506, 510, 514; 612, 614, 616, 618), wherein the set of commands are determined to achieve a desired attitude or attitude rate while keeping the aircraft balanced; and provide to a first actuator included in the set of actuators a first command included in the set of commands, wherein the first command of the set of commands reduces a difference between the actual attitude or attitude rate of the aircraft and the desired attitude or attitude rate, characterised in that each of the plurality of lower level flight computers is coupled to a corresponding actuator included in the set of actuators. a higher level flight computer configured to control a position and velocity of an aircraft; and a plurality of lower level flight computers , wherein a first lower level flight computer of the plurality of lower level flight computers comprises a set of sensors and a processor configured to: control an attitude of the aircraft by determining an actual attitude or attitude rate of the aircraft and comparing the actual attitude or attitude rate to a desired attitude or attitude rate; produce a set of commands for each actuator included in a set of actuators (208, 210, 212, 214; 402, 406, 410, 414; 502, 506, 510, 514; 612, 614, 616, 618), wherein the set of commands are determined to achieve a desired attitude or attitude rate while keeping the aircraft balanced; and provide to a first actuator included in the set of actuators a first command included in the set of commands, wherein the first command of the set of commands reduces a difference between the actual attitude or attitude rate of the aircraft and the desired attitude or attitude rate, characterised in that each of the plurality of lower level flight computers is coupled to a corresponding actuator included in the set of actuators. control an attitude of the aircraft by determining an actual attitude or attitude rate of the aircraft and comparing the actual attitude or attitude rate to a desired attitude or attitude rate; produce a set of commands for each actuator included in a set of actuators (208, 210, 212, 214; 402, 406, 410, 414; 502, 506, 510, 514; 612, 614, 616, 618), wherein the set of commands are determined to achieve a desired attitude or attitude rate while keeping the aircraft balanced; and provide to a first actuator included in the set of actuators a first command included in the set of commands, wherein the first command of the set of commands reduces a difference between the actual attitude or attitude rate of the aircraft and the desired attitude or attitude rate, characterised in that each of the plurality of lower level flight computers is coupled to a corresponding actuator included in the set of actuators. <EOS>