Bob
It would be my preference for us to use FreeRTOS
My biggest peeve with FreeRTOS is that the documentation (even the purchased documentation) only seems to be available in electronic format that can't be printed. I find electronic formats not at all conducive to learning. I tried a number of electronic methods to convert the online HTML and the purchased .CHM format into a single document for printing but to no avail.
In the end I spent an hour or so copying and pasting hundreds of pages into a single document with some rudimentary editting for printing that could be read easily in booklet format.
Overnight I became a convert to FreeRTOS. Until this time I'd been rather cynical about FreeRTOS in that I felt that by the time I'd learnt it I could have written my own RTOS. So far I have found no bugs with it, and I've used it fairly extensively. The printable "copy and pasted" version is here: http://www.g6lvb.com/freertos.zip.
73, Howard G6LVB