Typically, running multiple processes or tasks on a single application can be quite challenging, requiring complex memory management from the software engineer. However, RTOSes simplify this process via the kernel. Despite having higher overhead than a typical bare-metal code, RTOS kernels like Zephyr are still great for memory-sensitive applications due to the relatively low overhead and compile-time memory optimizations. Another important consideration with Zephyr is the ease of code verification and security. As all application code in Zephyr is operating above the hardware abstraction layer, verification becomes much simpler. The software developer knows the foundation for the code is sound and only must truly worry themselves with the application code, which may be easier to debug due to the additional debugging and kernel features provided by Zephyr’s kernel.