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It's not Linux but if you wanted to learn about real time, you could check out Ardupilot for drones. You'll get to learn about a variety of topics including:

- hardware (embedded hardware, brushless motors, propellers, batteries, radio, etc.)

- guidance (sensor fusion algorithms, kalman filtering, etc.)

- navigation (GPS/GNSS, magnetometers, barometers, accelerometers, gyroscopes, etc.)

- control (PWM control, PIDs, feed forward loops, etc.)

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While drones/quadcopters are a more continuous physical system than any clocked digital circuit, they can be controlled quite well with algorithms updating at "only" 1khz, which is probably a relatively wide open door for someone to gatekeep "that isn't realtime"

At least in the usage I've seen realtime refers to guarantees on latency and interrupt timers, not necessarily the amount of latency or polling rate. A system that polls at 1mhz but might miss a poll is not realtime, while a system that polls at 1hz with hard deadline guarantees would be considered realtime.

Hi!

Is there a good training ground, like a simulation, for playing around with this stuff?

There's robotics simulators like Gazebo you could try.

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