diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
index 1cd68ac08a..ef07781772 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.cpp
@@ -140,7 +140,7 @@ bool AP_PiccoloCAN::add_interface(AP_HAL::CANIface* can_iface) {
         return false;
     }
 
-    if (!_can_iface->set_event_handle(&_event_handle)) {
+    if (!_can_iface->set_event_handle(&sem_handle)) {
         debug_can(AP_CANManager::LOG_ERROR, "PiccoloCAN: Cannot add event handle\n\r");
         return false;
     }
diff --git a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
index 906cb772d0..770f05dcf5 100644
--- a/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
+++ b/libraries/AP_PiccoloCAN/AP_PiccoloCAN.h
@@ -114,7 +114,7 @@ private:
     char _thread_name[16];
     uint8_t _driver_index;
     AP_HAL::CANIface* _can_iface;
-    HAL_EventHandle _event_handle;
+    HAL_BinarySemaphore sem_handle;
 
     AP_PiccoloCAN_Servo _servos[PICCOLO_CAN_MAX_NUM_SERVO];
     AP_PiccoloCAN_ESC _escs[PICCOLO_CAN_MAX_NUM_ESC];