diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 413d7596..e621d312 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -57,12 +57,18 @@ ReturnValue_t FixedTimeslotTask::startTask() {
 
 ReturnValue_t FixedTimeslotTask::addSlot(object_id_t componentId,
 		uint32_t slotTimeMs, int8_t executionStep) {
-	if (objectManager->get<ExecutableObjectIF>(componentId) != NULL) {
+	if (objectManager->get<ExecutableObjectIF>(componentId) != nullptr) {
+		if(slotTimeMs == 0) {
+			// TODO: FreeRTOS throws errors for zero values.
+			// maybe there is a better solution than this.
+			slotTimeMs = 1;
+		}
 		pst.addSlot(componentId, slotTimeMs, executionStep, this);
 		return HasReturnvaluesIF::RETURN_OK;
 	}
 
-	error << "Component " << std::hex << componentId << " not found, not adding it to pst" << std::endl;
+	error << "Component " << std::hex << componentId <<
+			" not found, not adding it to pst" << std::endl;
 	return HasReturnvaluesIF::RETURN_FAILED;
 }