diff --git a/libraries/AP_Baro/AP_Baro_BMP085.cpp b/libraries/AP_Baro/AP_Baro_BMP085.cpp
index 95ec3c92dc..df744b7117 100644
--- a/libraries/AP_Baro/AP_Baro_BMP085.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP085.cpp
@@ -211,7 +211,7 @@ void AP_Baro_BMP085::_calculate()
     x2 = (-7357 * p) >> 16;
     p += ((x1 + x2 + 3791) >> 4);
 
-    if (_sem->take(0)) {
+    if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         _pressure_filter.apply(p);
         _has_sample = true;
         _sem->give();
diff --git a/libraries/AP_Baro/AP_Baro_BMP280.cpp b/libraries/AP_Baro/AP_Baro_BMP280.cpp
index 4505e64aba..e4fd0f4b01 100644
--- a/libraries/AP_Baro/AP_Baro_BMP280.cpp
+++ b/libraries/AP_Baro/AP_Baro_BMP280.cpp
@@ -66,7 +66,7 @@ AP_Baro_Backend *AP_Baro_BMP280::probe(AP_Baro &baro,
 
 bool AP_Baro_BMP280::_init()
 {
-    if (!_dev | !_dev->get_semaphore()->take(0)) {
+    if (!_dev | !_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         return false;
     }
 
@@ -158,7 +158,7 @@ void AP_Baro_BMP280::_update_temperature(int32_t temp_raw)
     var2 = (((((temp_raw >> 4) - ((int32_t)_t1)) * ((temp_raw >> 4) - ((int32_t)_t1))) >> 12) * ((int32_t)_t3)) >> 14;
     _t_fine = var1 + var2;
     t = (_t_fine * 5 + 128) >> 8;
-    if (_sem->take(0)) {
+    if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         _temperature = ((float)t) / 100;
         _sem->give();
     }
@@ -187,7 +187,7 @@ void AP_Baro_BMP280::_update_pressure(int32_t press_raw)
     var2 = (((int64_t)_p8) * p) >> 19;
     p = ((p + var1 + var2) >> 8) + (((int64_t)_p7) << 4);
 
-    if (_sem->take(0)) {
+    if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         _pressure = (float)p / 25600;
         _has_sample = true;
         _sem->give();
diff --git a/libraries/AP_Baro/AP_Baro_MS5611.cpp b/libraries/AP_Baro/AP_Baro_MS5611.cpp
index 5088bc5e06..25674ceac1 100644
--- a/libraries/AP_Baro/AP_Baro_MS5611.cpp
+++ b/libraries/AP_Baro/AP_Baro_MS5611.cpp
@@ -81,7 +81,7 @@ bool AP_Baro_MS56XX::_init()
         return false;
     }
 
-    if (!_dev->get_semaphore()->take(0)) {
+    if (!_dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         AP_HAL::panic("PANIC: AP_Baro_MS56XX: failed to take serial semaphore for init");
     }
 
@@ -324,7 +324,7 @@ void AP_Baro_MS56XX::update()
     uint32_t sD1, sD2;
     uint8_t d1count, d2count;
 
-    if (!_sem->take(0)) {
+    if (!_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         return;
     }
 
diff --git a/libraries/AP_Baro/AP_Baro_qflight.cpp b/libraries/AP_Baro/AP_Baro_qflight.cpp
index 65dc98acd9..75a1b7846a 100644
--- a/libraries/AP_Baro/AP_Baro_qflight.cpp
+++ b/libraries/AP_Baro/AP_Baro_qflight.cpp
@@ -40,7 +40,7 @@ void AP_Baro_QFLIGHT::timer_update(void)
         return;
     }
 
-    if (!_sem->take(0)) {
+    if (!_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         return;
     }