Hello,
On main menu bar click on File -> New S32DS Application project

Select S32K144 device and put unique project name

In next step select S32K144 SDK:

Double click on processor expert and add FreeRTOS component. Don't forget generate Processor Expert code.

Change FPU instructions settings by right click on project name -> properties

Other way is use and modify FreeRTOS example.
Jiri