The software architecture for a robust, multithreaded control system as used in an adaptive racecar is covered. A racecar was adapted so it can be driven by a person with quadriplegia by head control only. The car is steered by the driver turning his/her head left and right. A sip-n-puff system is used for controlling the throttle and brake. The control software was further adapted to tie in a patient’s brain im-plant to augment the control of the car. The primary focus is on the software architecture that was developed for autonomous control of unmanned aerial vehicles and used in the racecar.