pthread: fix typo with CONFIG_PTHREAD_MUTEX_DEFAULT_PRIO_INHERIT #7005
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Summary
CONFIG_ prefix was missing from reference to Kconfig variable CONFIG_PTHREAD_MUTEX_DEFAULT_PRIO_INHERIT, resulting to #else branch been always selected.
Also update function comments a bit.
Impact
Testing
Not tested, found by accident during code reading. Should be likely tested by someone who is using this feature.