- The code will detect an error condition described in https://cwiki.apache.org/confluence/display/NUTTX/Signaling+Semaphores+and+Priority+Inheritance - The kernel will go to PANIC if semaphore holder can't be allocated even if CONFIG_DEBUG_ASSERTIONS is disabled - Clean-up code that handled posing of semaphore with priority inheritance enabled from the interrupt context (remove nxsem_restore_baseprio_irq())