It is a problem I have now solved with the simple mantra:
Keep the total parameters space up to date and communicate, communicate, communicate the total parameter space to all autonomous systems.
Auto trim, yes, if the system knows, where, when, visuals, mode, etc, etc, etc. Just constructing a completely defined parameter space, that alone will organize your logic. Then what is the constraint in multi-processing? Communicating the aggregate view fast enough that it be accurate to all subsystems. You have inherent distribution error, add that in, warn pilots.
This is the heart of the AI concept, constructing sensors and actions to match with minimal uncertainty. The black box always has the best, and latest estimate of total parameter space, as known by all, with bounded congestion!!!!
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