I'm familiar with similar can't-fail applications in industrial controls engineering. Safety-critical software usually only means enough watchdogs, counters, a

I'm familiar with similar can't-fail applications in industrial controls engineering. Safety-critical software usually only means enough watchdogs, counters, and checksums that you can be confident everything will shut down if something's not right. But the Onewheel is a harder problem - you must continue to run even if something goes wrong! There are some industrial processes that are run continuous, you must not ever stop that pump or furnace or the molten metal will solidify or sewage will back up into people's homes or things will otherwise go very, very wrong. To deal with that, you need at the very least one-out-of-two function, redundant heterogeneous parallel motor drivers and IMUs in the Onewheel for example. Most plants - even big automotive lines, where an isolated fault can cost tens of thousands of dollars per hour - do not go to that enormous effort and expense. A consumer product never will.