[monkbroc]

You're welcome.

There is only one OS task for each rate (10ms, 100ms, etc). The order of the function calls in each task is determined at compile time while respecting constraints (A_10ms must run before B_10ms because B_10ms uses values computed in A_10ms).

In addition each OS task has an overrun monitor that triggers if a task is scheduled to run but the previous run has not finished yet. This type of error typically sets a "control module performance" diagnostic trouble code.