diff --git a/libraries/AP_HAL_Linux/Semaphores.cpp b/libraries/AP_HAL_Linux/Semaphores.cpp
index 60f7c9195f..4fb6796640 100644
--- a/libraries/AP_HAL_Linux/Semaphores.cpp
+++ b/libraries/AP_HAL_Linux/Semaphores.cpp
@@ -13,7 +13,7 @@ bool Semaphore::give()
 
 bool Semaphore::take(uint32_t timeout_ms)
 {
-    if (timeout_ms == 0) {
+    if (timeout_ms == HAL_SEMAPHORE_BLOCK_FOREVER) {
         return pthread_mutex_lock(&_lock) == 0;
     }
     if (take_nonblocking()) {