It will be down to the production company, not the FIA. For F1 they can broadcast live to the world from the in-car cameras and can access the video from any car for replays and the stewards while the race is underway. For other series the video can be collected from the cars after the race and is only broadcast in SD quality so a cheap GoPro is adequate. Then there are special cameras for special purposes like the high quality gimbal cameras used for bike racing in MOTOGP. The quality has improved a lot over the last couple of years, I don't think standard GoPros get used for much now.