diff --git a/src/shared/scheduler/SignaledDeadlineTask.h b/src/shared/scheduler/SignaledDeadlineTask.h
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+/* Copyright (c) 2025 Skyward Experimental Rocketry
+ * Authors: Pietro Bortolus, Niccolò Betto
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <ActiveObject.h>
+
+#include <chrono>
+#include <condition_variable>
+#include <mutex>
+
+namespace Boardcore
+{
+/**
+ * @brief A task that executes a user-defined function at specific time points,
+ * or when signaled.
+ *
+ * This class is designed to be used in situations where a task needs to be
+ * executed within specific deadlines, irregularly. The task will wake up at the
+ * specified time points and execute the user-defined function. The task can
+ * also be signaled to wake up and run immediately, regardless of the time
+ * points.
+ *
+ * This class essentially emulates an EDF (Earliest Deadline First) scheduler on
+ * a single thread. If a high-enough priority value is used, the task will be
+ * scheduled as soon as the deadline is reached, this can be useful for hard
+ * real-time tasks.
+ *
+ * Users must implement the following functions:
+ *
+ * - calculateNextDeadline(): This function should return the next time point
+ * when the task should wake up and run. Use TimePoint::max() to indicate
+ * that there is no deadline, and the task should not run until signaled.
+ *
+ * - task(): This function is invoked when the task wakes up after a deadline
+ * expiration. Users should implement the logic that needs to be executed at
+ * that time.
+ */
+class SignaledDeadlineTask : public ActiveObject
+{
+public:
+    /**
+     * The current version of the STL (GCC 9.2.0) has a bug where
+     * condition_variable::wait_until is broken with clocks != system clock.
+     *
+     * When absolute times big enough are used, the resulting time point
+     * will overflow, causing the condvar to return immediately.
+     *
+     * TODO: Use steady_clock once we update to a newer Miosix version using a
+     * newer GCC version and therefore a newer STL.
+     */
+    using Clock     = std::chrono::system_clock;
+    using TimePoint = std::chrono::time_point<Clock>;
+
+    /**
+     * @brief Constructor.
+     *
+     * @param stackSize The size of the stack for the thread.
+     * @param priority The priority of the thread.
+     */
+    SignaledDeadlineTask(
+        unsigned int stackSize    = miosix::STACK_DEFAULT_FOR_PTHREAD,
+        miosix::Priority priority = miosix::MAIN_PRIORITY)
+        : ActiveObject(stackSize, priority)
+    {
+    }
+
+    /**
+     * @brief Signals the task to run and go to sleep until the next deadline.
+     */
+    void signalTask()
+    {
+        std::unique_lock<std::mutex> lock(mutex);
+        signaled = true;
+        condvar.notify_all();
+    }
+
+    /**
+     * @brief Calculates the next deadline for the task to run.
+     */
+    virtual TimePoint nextTaskDeadline() = 0;
+
+    /**
+     * @brief The user-defined task to run.
+     */
+    virtual void task() = 0;
+
+protected:
+    void run() override
+    {
+        while (!shouldStop())
+        {
+            // Get the time when the task should run next
+            auto deadline = nextTaskDeadline();
+
+            // Lock the mutex in the smallest scope possible
+            {
+                std::unique_lock<std::mutex> lock(mutex);
+                // Wait until the next deadline or until signaled
+                condvar.wait_until(lock, deadline, [this] { return signaled; });
+                // Reset the signaled flag
+                signaled = false;
+            }
+
+            // Run the task
+            task();
+        }
+    }
+
+private:
+    bool signaled = false;  ///< Avoid spurious wakeups
+    std::mutex mutex;
+    std::condition_variable condvar;
+};
+}  // namespace Boardcore