diff --git a/libraries/AP_HAL_PX4/Device.cpp b/libraries/AP_HAL_PX4/Device.cpp
index e972e5c02f..d368611243 100644
--- a/libraries/AP_HAL_PX4/Device.cpp
+++ b/libraries/AP_HAL_PX4/Device.cpp
@@ -63,7 +63,7 @@ void *DeviceBus::bus_thread(void *arg)
                     callback->next_usec += callback->period_usec;
                 }
                 // call it with semaphore held
-                if (binfo->semaphore.take(0)) {
+                if (binfo->semaphore.take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
                     callback->cb();
                     binfo->semaphore.give();
                 }