real time kernel: benefits

That is true - see https://lwn.net/Articles/540368/ , or e.g. https://old.reddit.com/r/spacex/comments/gxb7j1/we_are_th... :

> All of our on-board computers either run Linux (with the PREEMPT_RT patch) or are microcontrollers that run bare-metal code. For applications running on Linux we are careful to set up the process and kernel thread priorities correctly to avoid priority inversions. We also generally write our code in a way that maximizes determinism, such as avoiding memory allocation at runtime or unbounded loops. Finally, we have telemetry which indicates the performance of all our processes to ensure that they always meet their deadlines across all phases of flight, even in the presence of unexpected or excess inputs.

> We handle radiation fault tolerance by having multiple computers running simultaneously and voting on their outputs. If one of the redundant computers fails due to radiation, the system is generally unaffected. The faulted computer can be rebooted and reincorporated into the system once it recovers, which restores the original fault tolerance.

But some of the most safety-critical things don't use Linux (specifically the thing that detects if the rocket went wrong and might become a risk to people on the ground, and blows it up before it leaves the exclusion zone):

> The Autonomous Flight Safety System (AFSS - it's all about safety) software runs on a set of microcontrollers independent from the flight computer. It receives sensor inputs directly (e.g. IMU measurements) as well as some computed inputs from the flight computer. A Mission Data Load configures the AFSS for which conditions might require termination of the flight, such as the rocket going way off course, losing all acceleration, etc.