From 5578b629a3f2f475039a8869fc1902210204ae8f Mon Sep 17 00:00:00 2001
From: Ville Juven <ville.juven@unikie.com>
Date: Wed, 4 Oct 2023 16:21:13 +0300
Subject: [PATCH] blockingqueue.hpp: Disable priority inheritance for signaling
 semaphores

The head/tail semaphores are not used as lock but rather as resource
counters and thus relate more as signaling semaphores. Disable PI for
them.

I run my code with CONFIG_DEBUG_ASSERTIONS=y and the kernel panics due
to the semaphore having no holder, disabling PI fixes this.
---
 src/include/containers/BlockingQueue.hpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/include/containers/BlockingQueue.hpp b/src/include/containers/BlockingQueue.hpp
index 7a88b7bdb6..00b64d1053 100644
--- a/src/include/containers/BlockingQueue.hpp
+++ b/src/include/containers/BlockingQueue.hpp
@@ -46,6 +46,8 @@ public:
 	{
 		px4_sem_init(&_sem_head, 0, N);
 		px4_sem_init(&_sem_tail, 0, 0);
+		px4_sem_setprotocol(&_sem_head, SEM_PRIO_NONE);
+		px4_sem_setprotocol(&_sem_tail, SEM_PRIO_NONE);
 	}
 
 	~BlockingQueue()