Thank you for your reply.
I use u-boot as a bootloader, which can read elf-files. The bin-files are no longer used in the boot process.
I can put an FreeRTOS-ELF-File on the boot partition and grab it while boot-process, so it can be executed.
The application is therefore statically linked with the FreeRTOS in the ELF-file.
My question is, if I can seperate the application from the OS, so i dont have to boot everytime I changed my application-code.