I actually use the ESP32 version of FreeRTOS professionally, and I can't imagine rolling your own scheduler and all the work involved when someone could just us

I actually use the ESP32 version of FreeRTOS professionally, and I can't imagine rolling your own scheduler and all the work involved when someone could just use the existing FreeRTOS codebase. The ESP32 stuff is awesome for my hobby projects, I do see the warts when I use it professionally though, trying to get the system to do more than a couple things at a time is not easy. We've re-written a number of core ESP-IDF packages, or gone through the pain of porting the vanilla FreeRTOS stuff over. We're also using C++, I'm looking forward to Rust.