No, it's not finding quorum, it's checking for bit flips generally. You just need dual redundant CPU's in lockstep.
"The FFB is at the heart of the Ingenuity helicopter’s avionics package. Two TI TMS570 Hercules microcontroller SoCs, originally aimed at automotive applications, operate as Ingenuity’s low-level flight controller (FC). Each TI microcontroller incorporates a dual-core, ARM Cortex-R5F processor operating in lockstep. The FFB also incorporates ECC-protected Flash memory and RAM. The dual-redundant lockstep processors and ECC memory provide some protection against radiation-induced soft errors such as SEUs (single event upsets)." https://www.eejournal.com/article/an-fpga-flies-on-mars/
"The FFB is at the heart of the Ingenuity helicopter’s avionics package. Two TI TMS570 Hercules microcontroller SoCs, originally aimed at automotive applications, operate as Ingenuity’s low-level flight controller (FC). Each TI microcontroller incorporates a dual-core, ARM Cortex-R5F processor operating in lockstep. The FFB also incorporates ECC-protected Flash memory and RAM. The dual-redundant lockstep processors and ECC memory provide some protection against radiation-induced soft errors such as SEUs (single event upsets)." https://www.eejournal.com/article/an-fpga-flies-on-mars/