Michael Haberler's new branch supports the Xenomai Realtime kernel. Information on installing it can be found here: NewRTInstall.
The XenomaiRuntimePackage recipe is prerequisite to building the kernel itself.
The XenomaiKernelPackageFromTarball recipe is a quick way to build a one-off kernel package.
To be sure your Xenomai kernel is behaving as expected, run the regression tests whenever you install a new kernel or new hardware. All tests, with the exception of clocktest -C 42 -T 30, should always pass. The test script will stop upon failure of any test.
On Debian or Ubuntu:
sudo xeno-regression-test -l "/usr/lib/xenomai/testsuite/dohell -m /tmp 100" -t 2
On RedHat-like distros:
sudo xeno-regression-test -l "/usr/lib64/xenomai/dohell -m /tmp 100" -t 2
If a test fails, please make a bug report to the Xenomai mailing list: http://www.xenomai.org/mailman/listinfo/xenomai Be sure to put the output of the regression test (incl. command line), kernel config (/boot/config-*) and output of dmesg on e.g. pastebin and provide links to them in your bug report.
If all tests run successfully, you can be fairly sure that Xenomai is running correctly.