I am working with ardupilot for a while, but here I can not find any answer for my question:

Is Arduplane a real time program?

I mean that for airplanes, hard real time is needed, so that instructions are executed in their deadlines, and that usually needs a real time operating system "OS"

So what about Arduplane?

Thank you!!

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I can be coded and run a mission; or you can control in real time. 

Hi, AP control runs at scheduled intervals of 20 and 100 ms + some longer. The deadline for each could be thought of as within 20 ms from start.
Regards, Soren

That means that it doesn't need any operating system?


No, there is no operating system in APM, nor is there much use of having one.



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