A developer is building a custom real-time operating system (RTOS) for an STM32F7 microcontroller to enable stable flight control on a 200 mph drone. The hybrid cooperative/preemptive RTOS separates low-priority background tasks from high-priority interrupt-driven tasks like IMU sensor reads and RC radio parsing, using ARM Cortex-M7 PendSV exception handling for deterministic, ultra-low-latency context switching. The project includes a Renode simulation environment for testing without physical hardware.