Well my FreeRTOS Port of ArduPilot is here, but bear in mind it is a fork and am not planning to merge it in
But if anyone else wants to do it that is fine with me, but the above has already moved away from the main repo quite a bit, but you could look at previous commits
If anyone else has a FreeRTOS fork of ArduPilot please let me know or post it here. I would certainly love to look at it. I have tried to found out about these other ports by googling but with no success so far. If anyone has info about them please let me know. Someone seems to else presumably that wouldnt have been written?