To be clear, this setup is different than just 2 cpu cores in lockstep, with reset in case a fault is detected. It's also different from triple redundancy/votin

To be clear, this setup is different than just 2 cpu cores in lockstep, with reset in case a fault is detected. It's also different from triple redundancy/voting where there is no reset, but continuous operation. This is two cores times two, managed by an FPGA. If one SOC (one pair of cores running in lockstep) detects a fault, the flight controller is hot-swapped to the other SOC (also one pair of cores running in lockstep) while the first SOC is rebooted.