I’ve been doing a lot of debugging for the RTOS scheduler inside the simulation environment, and it’s been very difficult for me to identify many bugs in teh core architecture of my tasks. Moving away from Python scripts to a cleaner C++ conditional compilation framework using CMake was supposed to simplify things, but instead, it exposed some nasty architectural bugs in how tasks and context switching interact. There has also been a massive priority inversion and preemption lockup where the CRSF parsing loop completely starves out the lower-priority threads. Also, running a raw sensor calibration loop at boot was forcing thread switches before the OS kernel was even fully initialized, completely corrupting task indexes, throwing null pointer warnings, and leaving half of my PID calculations at zero. Still working on many fixes, but it has been a lot of work (9 hours), but I hope to get the full RTOS with at least bare minimum flight tasks out by tomorrow! The GitHub repo still won’t be fully up-to-date until these structural bugs are figured out, but I plan to push the corrected scheduler files and mock drivers very soon.

The screenshot below shows an image of the CRSF task completely dominating, without any processes interrupting it.