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Embedded control system design requires a cross-disciplinary development effort involving design, software, and test engineering staffs. Conventional embedded control system development involves the use of various tools, each of which is applicable only to a portion of the development life cycle. Cross-disciplinary development using various design tools is expensive and a disproportionate amount of effort is required to translate control law algorithms into executable code. A toolset to increase productivity and reduce life cycle cost by providing an integrated development environment, including automated generation of high-level code from control law block diagrams, is needed. This paper presents AiResearch experience to date in using the NASA/Boeing Application Generator (AG) to develop real-time control systems for the Carbon Dioxide Removal Assembly (CDRA) in Work Package 01.