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uCOS-II is mainly a realtime preemptive multitasking kernel, not real OS.
It is good when your app. can be written as a number of parallel running tasks with different priorities.
Tasks are independent and communicate via mailboxes, semaphores etc.
If you have a real-time application with many tasks, writing it without an RTOS is asking for trouble. (In fact you are really writing one yourself and you'll likely be sorry.) uCos-II comes as source and is easily configured to use only what is needed. It is remarkably inexpensive for what it does and it works well on small micros.