People have listed other benefits such as timing guarantees, lack of general OS overhead, etc. One of the things I like about an RTOS is the organization it gi

People have listed other benefits such as timing guarantees, lack of general OS overhead, etc. One of the things I like about an RTOS is the organization it gives to your code. It gives you primitives like tasks, queues, and semaphores and allows you to easily organize and synchronize independently running tasks. On something like Arduino where you just have a setup() and a loop() function, it can become a mess if you're trying to do many different things with different timing requirements.