diff --git a/FreeRTOS/Source b/FreeRTOS/Source
index fcc665325c..78069a79ea 160000
--- a/FreeRTOS/Source
+++ b/FreeRTOS/Source
@@ -1 +1 @@
-Subproject commit fcc665325c033065cb6fd89d18a92f2ca611495e
+Subproject commit 78069a79ea8f9d17c0eae88c417fd41e2c54a2cd
diff --git a/FreeRTOS/Test/CMock/queue/generic/queue_delete_dynamic_utest.c b/FreeRTOS/Test/CMock/queue/generic/queue_delete_dynamic_utest.c
index 8cbed72ff6..f41fb4267a 100644
--- a/FreeRTOS/Test/CMock/queue/generic/queue_delete_dynamic_utest.c
+++ b/FreeRTOS/Test/CMock/queue/generic/queue_delete_dynamic_utest.c
@@ -129,3 +129,74 @@ void test_vQueueDelete_full( void )
     vQueueDelete( xQueue );
     TEST_ASSERT_EQUAL_PTR( ( void * ) xQueue, getLastFreedAddress() );
 }
+
+/**
+ * @brief Test vQueueDelete asserts when tasks are waiting to send and waiting to receive
+ * @details Verify that vQueueDelete triggers a configASSERT when both the
+ * xTasksWaitingToSend and xTasksWaitingToReceive lists are non-empty.
+ * @coverage vQueueDelete
+ */
+void test_vQueueDelete_assert_tasks_waiting_to_send_and_receive( void )
+{
+    QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
+
+    /* Add a fake task to the WaitingToSend list */
+    td_task_addFakeTaskWaitingToSendToQueue( xQueue );
+
+    /* Expect the assert to fire due to non-empty WaitingToSend list */
+    EXPECT_ASSERT_BREAK( vQueueDelete( xQueue ) );
+
+    /* Clean up the fake task from the list */
+    td_task_removeFakeTaskFromList();
+
+    /* Now add a fake task to WaitingToReceive and verify that assert fires too */
+    td_task_addFakeTaskWaitingToReceiveFromQueue( xQueue );
+
+    EXPECT_ASSERT_BREAK( vQueueDelete( xQueue ) );
+
+    /* Clean up and delete */
+    td_task_removeFakeTaskFromList();
+    vQueueDelete( xQueue );
+}
+
+/**
+ * @brief Test vQueueDelete asserts when tasks are waiting to send only
+ * @details Verify that vQueueDelete triggers a configASSERT when the
+ * xTasksWaitingToSend list is non-empty.
+ * @coverage vQueueDelete
+ */
+void test_vQueueDelete_assert_tasks_waiting_to_send( void )
+{
+    QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
+
+    /* Add a fake task to the WaitingToSend list */
+    td_task_addFakeTaskWaitingToSendToQueue( xQueue );
+
+    /* Expect the assert to fire due to non-empty WaitingToSend list */
+    EXPECT_ASSERT_BREAK( vQueueDelete( xQueue ) );
+
+    /* Clean up and delete */
+    td_task_removeFakeTaskFromList();
+    vQueueDelete( xQueue );
+}
+
+/**
+ * @brief Test vQueueDelete asserts when tasks are waiting to receive only
+ * @details Verify that vQueueDelete triggers a configASSERT when the
+ * xTasksWaitingToReceive list is non-empty.
+ * @coverage vQueueDelete
+ */
+void test_vQueueDelete_assert_tasks_waiting_to_receive( void )
+{
+    QueueHandle_t xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
+
+    /* Add a fake task to the WaitingToReceive list */
+    td_task_addFakeTaskWaitingToReceiveFromQueue( xQueue );
+
+    /* Expect the assert to fire due to non-empty WaitingToReceive list */
+    EXPECT_ASSERT_BREAK( vQueueDelete( xQueue ) );
+
+    /* Clean up and delete */
+    td_task_removeFakeTaskFromList();
+    vQueueDelete( xQueue );
+}
diff --git a/FreeRTOS/Test/CMock/queue/queue_utest_common.h b/FreeRTOS/Test/CMock/queue/queue_utest_common.h
index bed06e0cc6..73d3400b57 100644
--- a/FreeRTOS/Test/CMock/queue/queue_utest_common.h
+++ b/FreeRTOS/Test/CMock/queue/queue_utest_common.h
@@ -326,6 +326,13 @@ void td_task_addFakeTaskWaitingToSendToQueue( QueueHandle_t xQueue );
  */
 void td_task_addFakeTaskWaitingToReceiveFromQueue( QueueHandle_t xQueue );
 
+/**
+ * @brief Remove the fake task from whatever waiting list it is currently in.
+ * @details This should be called before deleting a queue that has a fake task
+ * in one of its waiting lists (xTasksWaitingToSend or xTasksWaitingToReceive).
+ */
+void td_task_removeFakeTaskFromList( void );
+
 /**
  * @brief Test double for xTaskCheckForTimeOut
  */
diff --git a/FreeRTOS/Test/CMock/queue/semaphore/mutex_utest.c b/FreeRTOS/Test/CMock/queue/semaphore/mutex_utest.c
index 89a9b02d2e..2dccad98f9 100644
--- a/FreeRTOS/Test/CMock/queue/semaphore/mutex_utest.c
+++ b/FreeRTOS/Test/CMock/queue/semaphore/mutex_utest.c
@@ -540,6 +540,9 @@ void test_macro_xSemaphoreTake_blocking_mutex_inherit_timeout_high_prio_waiting(
 
     TEST_ASSERT_EQUAL( TICKS_TO_WAIT + 1, td_task_getCount_YieldFromTaskResumeAll() );
 
+    /* Remove the fake task from the waiting list before deleting the semaphore */
+    td_task_removeFakeTaskFromList();
+
     vSemaphoreDelete( xSemaphore );
 }
 
diff --git a/FreeRTOS/Test/CMock/queue/td_task.c b/FreeRTOS/Test/CMock/queue/td_task.c
index eff0cdc601..50bab55419 100644
--- a/FreeRTOS/Test/CMock/queue/td_task.c
+++ b/FreeRTOS/Test/CMock/queue/td_task.c
@@ -290,6 +290,14 @@ void td_task_addFakeTaskWaitingToReceiveFromQueue( QueueHandle_t xQueue )
     vListInsert( pxTasksWaitingToReceive, &fakeTaskListItem );
 }
 
+void td_task_removeFakeTaskFromList( void )
+{
+    if( listLIST_ITEM_CONTAINER( &fakeTaskListItem ) != NULL )
+    {
+        uxListRemove( &fakeTaskListItem );
+    }
+}
+
 TickType_t td_task_getFakeTaskPriority( void )
 {
     return( configMAX_PRIORITIES - fakeTaskListItem.xItemValue );
diff --git a/manifest.yml b/manifest.yml
index 4062621520..c135e044f6 100644
--- a/manifest.yml
+++ b/manifest.yml
@@ -5,7 +5,7 @@ license: "MIT"
 
 dependencies:
   - name: "FreeRTOS-Kernel"
-    version: "fcc6653"
+    version: "78069a7"
     repository:
       type: "git"
       url: "https://github.com/FreeRTOS/FreeRTOS-Kernel.git"