In my experience, it is a breeze to use. ~10 years ago, we managed to significantly cut down the cost of IP cameras by using lwIP with NuttX which allowed us to

In my experience, it is a breeze to use. ~10 years ago, we managed to significantly cut down the cost of IP cameras by using lwIP with NuttX which allowed us to use a cheaper microcontroller instead of a more expensive chip that could run Linux. Plugging in a new TCP congestion control scheme was also straightforward.