However, you can get very far with the built-in real-time capabilities. If your software stack can deal with occasional jitter in sensor updates (and normally y

However, you can get very far with the built-in real-time capabilities. If your software stack can deal with occasional jitter in sensor updates (and normally you have to take that into account), you can compile a stock kernel with PREEMPT_RT and can use C to build software that has to do IO every 1ms. In POSIX. That is huge.