A fault detection system includes a sensor configured to measure a physical quantity and generate a measurement of the physical quantity; a first processor configured to receive the measurement, execute a first firmware based on the measurement, and output a first result of the executed first firmware; a second processor configured to receive the measurement from the sensor, execute a second firmware based on the measurement, and output a second result of the executed second firmware, wherein the first firmware and the second firmware provide a same nominal function in a diverse manner for calculating the first result and the second result, respectively, such that the first result and the second result are expected to be within a predetermined margin; and a fault detection circuit configured to detect a fault when the first result and the second result are not within the predetermined margin.