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Nasa CFS, is written is plain C (trying to follow MISRA C, etc). It's open on girhub abd used by many companies. It's typically run over freertos or RTEMS, not sure here.

Personally I find the project extremely messy, and kinda hate working with it.

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It's most likely using vxworks for it's OS, since I believe it's one of the only fully certified ARINC653 OS's for human flight. It's used in most Aircraft and space missions.

Yeah, that was my guess too but the comment about separate implementation for the backup system made me wonder if there was a different OS, and the which was running where.

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