Example for esp32 Arduino with FreeRTOS?

[0xPIT]

While I got it to compile without cmake and some minor changes, I can't fix a runtime crash when doing hsm->transition() from a task.

Any change someone already has a working example with FreeRTOS on current ESP32 Arduino?
I use platformio and a newer Arduino core that supports c++ > 11.
platform = https://github.com/pioarduino/platform-espressif32/releases/download/53.03.11/platform-espressif32.zip

Here's my changes to make it compile: (besides removing unused files)
hsm.diff.txt