The integration of the integrated communications/navigation/identification (ICNI) system for unmanned aerial vehicles necessitates that the master control module of the ICNI performs functions such as system control and data forwarding via multiple bus communications. This requirement imposes higher demands on the processing performance and interface resources of the core processor. Consequently, there is a need for a more lightweight design for the health control system within the module. This paper presents a fully domestic CAN bus-based health management system designed using a CPU+MCU distributed architecture within the main control module. The FT-2000/4 serves as the core processor, while the MCU acts as the coprocessor to implement the CAN bus interface unit. The two components facilitate application layer data exchange over the CAN bus through SPI full-duplex communication, enabling the CPU to query the status and issue commands to each module/unit in the system, thereby achieving effective health management. The system is capable of real-time monitoring of the health status of each module. Notably, the circuit design utilizes only the SPI and GPIO interfaces of the core processor, without occupying additional interface resources or programmable logic (FPGA) resources. This approach simplifies the hardware design and alleviates the challenges associated with circuit layout and structural design. Furthermore, the cost of the health management circuitry is at least 60% lower than that of other typical designs in the industry, addressing the need for cost-effective solutions.