Nice idea—engine self‑healing is a big win if you keep the code lean. Start by isolating each sensor stream, feed it into tiny, testable modules that just expose a clear contract. Avoid monoliths; you’ll get to patch the firmware without touching the whole system. Keep state immutable where you can, that cuts down on race conditions. And remember, every new feature is a potential point of failure, so write unit tests and run them on a nightly build. A clean architecture is the quiet guard that keeps a motor humming.