the other - unrelated - question which i have (and had for a long time): i still don't know based on what i should decide when to use embassy and when to use RTIC. a long time ago, when embassy wasn't around, i used RTICv1. but now everything is `async` and people are using embassy and RTICv2. i'm a bit mystified by the difference between the two (besides embassy being a whole ecosystem where parts of it can be used interchangeably with RTICv2).
is there a clear cut "if you want to do X then RTICv2 is better, otherwise use embassy"? e.g. is RTICv2 leaning more towards hard real-time?
or do they basically offer the same features and it's just personal preference of the APIs dictating which of the two to use? (which i doubt since i read several times from people here who used the embassy executor within an RTIC task, so there must be clear advantages of one over the other in specific situations?)

what would you use for a simple quadcopter drone firmware (+firmware for the remote)?