diff --git a/libuavcan_drivers/linux/apps/test_socket.cpp b/libuavcan_drivers/linux/apps/test_socket.cpp
index 4beee75cc3..a8a39a09f9 100644
--- a/libuavcan_drivers/linux/apps/test_socket.cpp
+++ b/libuavcan_drivers/linux/apps/test_socket.cpp
@@ -51,7 +51,7 @@ static void testSocketRxTx(const std::string& iface_name)
     if1.poll(true, true);
     if1.poll(true, true);
     ENFORCE(0 == if1.getErrorCount());
-    ENFORCE(!if1.hasPendingTx());
+    ENFORCE(!if1.hasReadyTx());
     ENFORCE(if1.hasReadyRx());       // Second loopback
 
     /*
@@ -63,7 +63,7 @@ static void testSocketRxTx(const std::string& iface_name)
     if2.poll(true, true);
     if2.poll(true, true);
     ENFORCE(1 == if2.getErrorCount());  // One timed out
-    ENFORCE(!if2.hasPendingTx());
+    ENFORCE(!if2.hasReadyTx());
     ENFORCE(if2.hasReadyRx());
 
     /*
@@ -101,7 +101,7 @@ static void testSocketRxTx(const std::string& iface_name)
     ENFORCE((clock.getUtc() - ts_utc).getAbs().toMSec() < 10);
 
     ENFORCE(0 == if1.receive(frame, ts_mono, ts_utc, flags));
-    ENFORCE(!if1.hasPendingTx());
+    ENFORCE(!if1.hasReadyTx());
     ENFORCE(!if1.hasReadyRx());
 
     /*
@@ -126,7 +126,7 @@ static void testSocketRxTx(const std::string& iface_name)
     ENFORCE((clock.getUtc() - ts_utc).getAbs().toMSec() < 10);
 
     ENFORCE(0 == if2.receive(frame, ts_mono, ts_utc, flags));
-    ENFORCE(!if2.hasPendingTx());
+    ENFORCE(!if2.hasReadyTx());
     ENFORCE(!if2.hasReadyRx());
 }
 
@@ -182,7 +182,7 @@ static void testSocketFilters(const std::string& iface_name)
         if1.poll(true, true);
         if2.poll(true, false);
     }
-    ENFORCE(!if1.hasPendingTx());
+    ENFORCE(!if1.hasReadyTx());
     ENFORCE(!if1.hasReadyRx());
     ENFORCE(0 == if1.getErrorCount());
     ENFORCE(if2.hasReadyRx());
@@ -290,7 +290,7 @@ static void testDriver(const std::vector<std::string>& iface_names)
         ENFORCE((clock.getMonotonic() - ts_mono).getAbs().toMSec() < 10);
         ENFORCE((clock.getUtc() - ts_utc).getAbs().toMSec() < 10);
 
-        ENFORCE(!driver.getIface(i)->hasPendingTx());
+        ENFORCE(!driver.getIface(i)->hasReadyTx());
         ENFORCE(!driver.getIface(i)->hasReadyRx());
     }
 
diff --git a/libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp b/libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
index 5b0c2dbb26..6aa0504696 100644
--- a/libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
+++ b/libuavcan_drivers/linux/include/uavcan_linux/socketcan.hpp
@@ -268,7 +268,7 @@ class SocketCanIface : public uavcan::ICanIface
 
     void pollWrite()
     {
-        while (!tx_queue_.empty() && (frames_in_socket_tx_queue_ < max_frames_in_socket_tx_queue_))
+        while (hasReadyTx())
         {
             const TxItem tx = tx_queue_.top();
 
@@ -437,8 +437,11 @@ public:
         }
     }
 
-    bool hasPendingTx() const { return !tx_queue_.empty(); }
-    bool hasReadyRx()   const { return !rx_queue_.empty(); }
+    bool hasReadyRx() const { return !rx_queue_.empty(); }
+    bool hasReadyTx() const
+    {
+        return !tx_queue_.empty() && (frames_in_socket_tx_queue_ < max_frames_in_socket_tx_queue_);
+    }
 
     std::int16_t configureFilters(const uavcan::CanFilterConfig* const filter_configs,
                                   const std::uint16_t num_configs) override
@@ -618,7 +621,7 @@ public:
             for (unsigned i = 0; i < num_ifaces_; i++)
             {
                 pollfds_[i].events = POLLIN;
-                if (ifaces_[i]->hasPendingTx() || (inout_masks.write & (1 << i)))
+                if (ifaces_[i]->hasReadyTx() || (inout_masks.write & (1 << i)))
                 {
                     pollfds_[i].events |= POLLOUT;
                 }