UAV (Unmanned Aerial Vehicle) flight control software is increasingly required on ARINC-653 environment that is the standard specification for the airborne operating system. This requirement can fulfill portability of the software making it possible to run the software on various types of UAV. Unfortunately, this multithreaded software may fail and lead to unintended and non-deterministic execution, owing to concurrency faults in it. This paper presents an health management system for this environment, which repairs concurrency errors in the software using anticipating invariant. This system on-the-fly repairs every atomicity violation and some portion of order violation occurred in the software.