Satisfying real-time requirements in cyber-physical systemsis challenging as timing behaviour depends on the applica-tion software, the embedded hardware, as well as the exe-cution environment. This challenge is exacerbated as real-world, industrial systems often use unpredictable hardwareand software libraries or operating systems with timing haz-ards and proprietary device drivers. All these issues limitor entirely prevent the application of established real-timeanalysis techniques.

This paper describes PReGO, a partially generative method-ology for satisfying real-time requirements in industrial usecases developed without real-time techniques in mind. Weapply our methodology to a Search & Rescue applicationrunning on a fixed-wing drone with COTS components, in-cluding a NVIDIA Jetson board and a stock Ubuntu/Linux.We empirically evaluate the impact of each integration stepand demonstrate the effectiveness of our methodology inmeeting real-time application requirements in terms of dead-line misses and energy consumption.