Commands, including a first and second command associated with a first and second rotor module, are determined based at least in part on a set of desired forces or moments and a plurality of health metrics, including by determining a plurality of differences between the plurality of health metrics and a threshold and assigning a lower thrust value to the first command based at least in part on the first difference and a higher thrust value to the second command based at least in part on the second difference, where the first difference indicates a higher degree of wear on the first rotor module than the second difference indicates for the second rotor module. The commands are sent to the rotor modules and after the commands are performed, updated health metrics are determined.