diff --git a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp b/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp
index d20c33030d..31ba23e5e1 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp
+++ b/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.cpp
@@ -41,21 +41,9 @@ void AP_Airspeed_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
     }
 }
 
-bool AP_Airspeed_UAVCAN::take_registry()
-{
-    return _sem_registry.take(HAL_SEMAPHORE_BLOCK_FOREVER);
-}
-
-void AP_Airspeed_UAVCAN::give_registry()
-{
-    _sem_registry.give();
-}
-
 AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _instance)
 {
-    if (!take_registry()) {
-        return nullptr;
-    }
+    WITH_SEMAPHORE(_sem_registry);
 
     AP_Airspeed_UAVCAN* backend = nullptr;
 
@@ -80,8 +68,6 @@ AP_Airspeed_Backend* AP_Airspeed_UAVCAN::probe(AP_Airspeed &_frontend, uint8_t _
         }
     }
 
-    give_registry();
-
     return backend;
 }
 
@@ -123,7 +109,8 @@ AP_Airspeed_UAVCAN* AP_Airspeed_UAVCAN::get_uavcan_backend(AP_UAVCAN* ap_uavcan,
 
 void AP_Airspeed_UAVCAN::handle_airspeed(AP_UAVCAN* ap_uavcan, uint8_t node_id, const AirspeedCb &cb)
 {
-    if (take_registry()) {
+    WITH_SEMAPHORE(_sem_registry);
+
         AP_Airspeed_UAVCAN* driver = get_uavcan_backend(ap_uavcan, node_id);
 
         if (driver != nullptr) {
@@ -132,9 +119,6 @@ void AP_Airspeed_UAVCAN::handle_airspeed(AP_UAVCAN* ap_uavcan, uint8_t node_id,
             driver->_temperature = cb.msg->static_air_temperature - C_TO_KELVIN;
             driver->_last_sample_time_ms = AP_HAL::millis();
         }
-
-        give_registry();
-    }
 }
 
 bool AP_Airspeed_UAVCAN::init()
diff --git a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h b/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h
index e505c2a92a..98d1329011 100644
--- a/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h
+++ b/libraries/AP_Airspeed/AP_Airspeed_UAVCAN.h
@@ -23,9 +23,6 @@ public:
     static AP_Airspeed_Backend* probe(AP_Airspeed &_fronted, uint8_t _instance);
 
 private:
-    static bool take_registry();
-
-    static void give_registry();
 
     static void handle_airspeed(AP_UAVCAN* ap_uavcan, uint8_t node_id, const AirspeedCb &cb);