Software Engineer - Systems & Real-Time (RTOS / HIL)

About Nominal

Nominal is building the connected test and operations platform powering the world's most advanced hardware systems, from spacecraft and autonomous vehicles to next-generation defense programs. Our platform gives hardware engineering teams a single place to ingest data, analyze performance, automate test execution, and collaborate across every phase of development, so they can move faster without sacrificing safety or precision. We're a fast-moving team that owns problems end-to-end, works across disciplines, and thrives at the intersection of hardware and software.

We serve top-tier commercial and defense customers, from autonomy leaders like Anduril and Shield AI to next-generation aerospace teams like Hermeus and REGENT, and performance engineering teams like Pratt Miller Motorsports, alongside mission partners within the U.S. Navy and U.S. Air Force on programs where failure isn't an option. We're backed by Sequoia, General Catalyst, Founders Fund, Lux Capital, and Lightspeed. Our team draws from SpaceX, Palantir, Anduril, Applied Intuition, and other leading companies, united by a common mission: giving hardware engineers the tools to build the future with speed, safety, and confidence.

As a Systems-Level Software Engineer , you'll architect and implement the real-time backbone of Nominal's test automation and simulation platform. You'll work across the full stack of hardware-in-the-loop (HIL) systems, from deterministic task scheduling and bus I/O to distributed telemetry and timing synchronization - ensuring our software behaves predictably under the tightest latency budgets. If you thrive at the boundary between software and the physical world - where timing matters as much as correctness, this role is for you.

About the Role

• Design and implement hard real-time components for data acquisition, control, and simulation using C++ and/or Rust .
• Develop deterministic communication layers for CAN, EtherCAT, serial, and MIL-STD-1553 or similar field buses.
• Architect the core HIL runtime , including task schedulers, timing controllers, and synchronization primitives.
• Integrate with embedded targets, flight computers, and sensor networks to validate autonomy and control software.
• Collaborate with our infrastructure and visualization teams to connect real-time execution with distributed telemetry, playback, and analysis pipelines.
• Profile, benchmark, and harden low-latency systems to meet microsecond-level timing guarantees .
• Establish testing and verification standards for real-time correctness and timing determinism across the platform.

Skills That Accelerate Us

• 4+ years of systems-level or embedded software development in C++ (C++17 or newer) or Rust, with a deep understanding of real-time constraints and deterministic scheduling .
• Experience with RTOSs such as QNX, RTEMS, FreeRTOS, VxWorks , or Linux PREEMPT-RT.
• Background in HIL or SIL testing , real-time control loops, or simulation frameworks for aerospace, automotive, or robotics.
• Strong grasp of hardware interfaces , timing jitter, interrupt handling, and low-level I/O.
• Familiarity with signal acquisition, control systems, and sensor fusion concepts.
• Bonus: experience with LabVIEW, NI TestStand, PXI/DAQ systems , or integration with external test equipment.
• Bonus: knowledge of time-synchronized networking (PTP/NTP) , DDS , or real-time middleware (ROS 2, RTI Connext).
• Ability to debug at multiple layers - from driver-level to distributed telemetry - and to reason clearly about timing and causality.

Benefits/Perks

• 100% coverage of medical, dental, and vision insurance
• Unlimited PTO and sick leave
• Free lunch, snacks, and coffee
• Professional Development Stipend
• Annual company retreat

All qualified applicants will receive consideration for employment without regard to race, color, religion, sex, sexual orientation, gender identity, or national origin.

ITAR Requirements

To conform to U.S. Government export regulations, applicant must be a (i) U.S. citizen or national, (ii) U.S. lawful, permanent resident (aka green card holder), (iii) Refugee under 8 U.S.C. § 1157, or (iv) Asylee under 8 U.S.C. § 1158, or be eligible to obtain the required authorizations from the U.S. Department of State. Learn more about the ITAR here.

Compensation

The base pay range for this role is $130,000 - $230,000 per year.