diff --git a/libraries/AP_HAL_ESP32/HAL_ESP32_Namespace.h b/libraries/AP_HAL_ESP32/HAL_ESP32_Namespace.h
index d59f080c0c..fbd28b5dc6 100644
--- a/libraries/AP_HAL_ESP32/HAL_ESP32_Namespace.h
+++ b/libraries/AP_HAL_ESP32/HAL_ESP32_Namespace.h
@@ -15,6 +15,7 @@ class RCInput;
 class Util;
 class Semaphore;
 class Semaphore_Recursive;
+class BinarySemaphore;
 class GPIO;
 class DigitalSource;
 class Storage;
diff --git a/libraries/AP_HAL_ESP32/Semaphores.cpp b/libraries/AP_HAL_ESP32/Semaphores.cpp
index a397a53b18..d76ca820ae 100644
--- a/libraries/AP_HAL_ESP32/Semaphores.cpp
+++ b/libraries/AP_HAL_ESP32/Semaphores.cpp
@@ -73,3 +73,46 @@ bool Semaphore::check_owner()
 {
     return xSemaphoreGetMutexHolder((QueueHandle_t)handle) == xTaskGetCurrentTaskHandle();
 }
+
+
+/*
+  BinarySemaphore implementation
+ */
+BinarySemaphore::BinarySemaphore(bool initial_state)
+{
+    _sem = xSemaphoreCreateBinary();
+    if (initial_state) {
+        xSemaphoreGive(_sem);
+    }
+}
+
+bool BinarySemaphore::wait(uint32_t timeout_us)
+{
+    TickType_t ticks = pdMS_TO_TICKS(timeout_us / 1000U);
+    return xSemaphoreTake(_sem, ticks) == pdTRUE;
+}
+
+bool BinarySemaphore::wait_blocking()
+{
+    return xSemaphoreTake(_sem, portMAX_DELAY) == pdTRUE;
+}
+
+void BinarySemaphore::signal()
+{
+    xSemaphoreGive(_sem);
+}
+
+void BinarySemaphore::signal_ISR()
+{
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    xSemaphoreGiveFromISR(_sem, &xHigherPriorityTaskWoken);
+    portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+}
+
+BinarySemaphore::~BinarySemaphore(void)
+{
+    if (_sem != nullptr) {
+        vSemaphoreDelete(_sem);
+    }
+    _sem = nullptr;
+}
diff --git a/libraries/AP_HAL_ESP32/Semaphores.h b/libraries/AP_HAL_ESP32/Semaphores.h
index 844fd1b271..0a950f7a10 100644
--- a/libraries/AP_HAL_ESP32/Semaphores.h
+++ b/libraries/AP_HAL_ESP32/Semaphores.h
@@ -20,6 +20,8 @@
 #include <AP_HAL/AP_HAL_Macros.h>
 #include <AP_HAL/Semaphores.h>
 #include "HAL_ESP32_Namespace.h"
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
 
 class ESP32::Semaphore : public AP_HAL::Semaphore
 {
@@ -34,3 +36,20 @@ public:
 protected:
     void*  handle;
 };
+
+class ESP32::BinarySemaphore : public AP_HAL::BinarySemaphore {
+public:
+    BinarySemaphore(bool initial_state=false);
+    ~BinarySemaphore(void);
+
+    CLASS_NO_COPY(BinarySemaphore);
+
+    bool wait(uint32_t timeout_us) override;
+    bool wait_blocking(void) override;
+    void signal(void) override;
+    void signal_ISR(void) override;
+
+protected:
+    SemaphoreHandle_t _sem;
+};
+