I think this may sound not so familiar but I still keep thinking about the concept where the Ardupilot(s) can be implemented in a single unit, in this case - a single board computer, Pi-like or BeagleBone-like
Each Ardupilot instance will work with corresponding sensors (INS) and actuators (Servos). Everything else will be kept the same.
I guesss the Ardupilot built for Navio could be a solution.
Has anyone thought about this scheme before? Do you think it is possible?
I would like to hear your thoughts and discuss further.