Hi all,

There is an error during compilation Orocos with Xenomai support for rtt-1.8.3 and rtt-1.8.4 releases. Problem is with src/os/xenomai/fosi.h file.
Below I include improved functions

static inline int rtos_mutex_lock( rt_mutex_t* m)
{
CHK_XENO_CALL();
//return rt_mutex_lock(m, TM_INFINITE );
return rt_mutex_acquire(m, TM_INFINITE );
}

static inline int rtos_mutex_trylock( rt_mutex_t* m)
{
CHK_XENO_CALL();
//return rt_mutex_lock(m, TM_NONBLOCK);
return rt_mutex_acquire(m, TM_NONBLOCK );
}

static inline int rtos_mutex_unlock( rt_mutex_t* m)
{
CHK_XENO_CALL();
//return rt_mutex_unlock(m);
return rt_mutex_release(m);
}

static inline int rtos_mutex_rec_lock( rt_rec_mutex_t* m)
{
CHK_XENO_CALL();
//return rt_mutex_lock(m, TM_INFINITE );
return rt_mutex_acquire(m, TM_INFINITE );
}

static inline int rtos_mutex_rec_unlock( rt_rec_mutex_t* m)
{
CHK_XENO_CALL();
//return rt_mutex_unlock(m);
return rt_mutex_release(m);
}

I hope it helps.