The Philae spacecraft [1] (2014, first craft to "land" on a comet) was controlled by a couple of Harris RTX2010 CPUs, which are radiation-hardened CPUs that execute Forth words natively.[2]

[1] https://en.wikipedia.org/wiki/Philae_(spacecraft)

[2] https://www.intersil.com/content/dam/Intersil/documents/hs-r...