Hello! I am doing a research on real time control for drones. I am now reviewing some Real-Time Operating Systems(RTOS) like ChibiOS , etc. now I understand a real time task has a specified deadline (completion time), so how do I get to specify the deadline in my code? also for a hard real time task, say of 10ms, is it necessary that the task be completed right at 10ms or it is fine if it's within the 10ms limit.
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I guess if you post this question on the official Ardupilot project forum you may have more support https://discuss.ardupilot.org/