Ingenuity had a Snapdragon, but there was also a redundant pair of arm r5f microcontrollers (which are also lockstepped dual-core processors, so quadruple redundancy) where the flight controllers were, and a rad-tolerant FPGA (proasic) that watchdogged everything else. The Snapdragon was used for less critical code such as imaging and comms.

https://rotorcraft.arc.nasa.gov/Publications/files/Balaram_A...