An aircraft system of an aircraft may, while the aircraft is flying in a first flight mode, receive data from one or more sensors of the aircraft and, based on received data from one or more sensors, identify an actuation failure of an actuator of a flight control surface. The vehicle system may, subsequent to identifying the actuation failure of the actuator of the flight control surface, control the aircraft to fly in a modified flight mode. Controlling the aircraft to fly in the modified flight mode may include: determining a directional bias caused by the actuation failure, determining a modified flight plan based on the determined directional bias, and controlling the aircraft to fly based on the modified flight plan and the directional bias.