I just finished expanding the RTOS architecture, filling out all of the scheduled background tasks to handle real-time flight telemetry, peripheral hardware, and terminal configuration. On the telemetry side, I built out telemetryTX to package battery, status, and GPS data into standard CRSF frames over UART, alongside an NMEA gpsParser that decodes $GNGGA and $GNRMC sentences for live location fixes. I also made powerManagement into its own standalone task so ADC voltage and current metrics can feed into the failsafe logic and telemetry concurrently. To make bench testing and tuning significantly easier, I added usbCLI over USART1, giving me a full interactive shell to tweak PID gains (Kp, Ki, Kd), dump raw IMU data, and inspect hardware states on the fly without needing to reflash firmware.

To keep the physical quad safe and responsive during flight, I added updatePeripherals for LED status patterns and buzzer warnings, along with a dedicated Independent Watchdog (IWDG) task running as a low-priority fail-safe to trigger hardware MCU resets if the scheduler ever freezes. On the project structure side, CMake now routes all output binaries straight into a clean ./bin/ directory so nobody has to compile the source manually just to run the .elf target in Renode. I also introduced a -DENABLE_DEBUG flag, allowing me to cleanly toggle between complete USART log prints across every loop or a blank terminal environment meant purely for the CLI shell.

While all the background subsystems and scheduled task priorities are fully mapped out, I’m currently figuring out a few lingering RTOS bugs—specifically around stack allocation, causing stack overflow flags on certain scheduled tasks, along with scheduling starvation where context switching isn’t releasing task blocks properly. Because I want to ensure the scheduler kernel is 100% complete before pushing broken stack frames to the main branch, the GitHub repository will be updated with the complete, bug-fixed code later today. Everything is moving in the right direction, and getting these background tasks finalized brings me one step closer to full flight hardware deployment!