A voter configured for in-flight tuning based on flight phase and operational scenario receives sensor signals and applies adaptive tolerances. The voter allows integration of high-integrity sensors with less accurate, low-integrity sensors, or even sensors that are susceptible to noise, dropouts, interference or sabotage without compromising the voted signal integrity or availability. The voter composites low-integrity sensor signals to produce a quasi-high-integrity sensor signal suitable for inclusion in a golden signal and provides sensor fusion.