Comment by wildzzz

Ingenuity does have an RT ProASIC3 (an older rad hard FPGA) on board so presumably that could be what's handling the voting. Since the Snapdragon was originally used for navigation and operates much, they could be voting at a higher level rather than actual CPU output. When it was still a helicopter, the various sensors and actuators all connect to the FPGA so the voting could be based on commands to the actuators (turn left, reduce power, etc.)