Hi, shame on me: we had a nasty bug in the RTDM mutex code for quite a long time (actually, in any Xenomai version).
The priority inheritance did not work in case such a mutex was taken without prior contention and a higher priority task then tried to acquire it. Scenario: task 1 takes lock A without having to wait, then it gets preempted by task 2 which also tries to take lock A, task 1 should get booted to task 2's priority, and this was not the case so far. This bug was fixed in revision #1070 for the 2.1.x branch and #1071 for trunk. Updating your local Xenomai code base it recommended in case you depend on PI-characteristics of RTDM mutexes. Jan
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