diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index ed3ba5e445..511e5f7157 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -94,7 +94,7 @@ UavcanNode::UavcanNode(uavcan::ICanDriver &can_driver, uavcan::ISystemClock &sys
 		std::abort();
 	}
 
-	res = sem_init(&_server_command_sem, 0 , 0);
+	res = px4_sem_init(&_server_command_sem, 0 , 0);
 
 	if (res < 0) {
 		std::abort();
@@ -158,7 +158,7 @@ UavcanNode::~UavcanNode()
 	perf_free(_perfcnt_esc_mixer_output_elapsed);
 	perf_free(_perfcnt_esc_mixer_total_elapsed);
 	pthread_mutex_destroy(&_node_mutex);
-	sem_destroy(&_server_command_sem);
+	px4_sem_destroy(&_server_command_sem);
 
 }
 
@@ -208,7 +208,7 @@ int UavcanNode::start_fw_server()
 	}
 
 	_fw_server_action = None;
-	sem_post(&_server_command_sem);
+	px4_sem_post(&_server_command_sem);
 	return rv;
 }
 
@@ -224,7 +224,7 @@ int UavcanNode::request_fw_check()
 	}
 
 	_fw_server_action = None;
-	sem_post(&_server_command_sem);
+	px4_sem_post(&_server_command_sem);
 	return rv;
 
 }
@@ -248,7 +248,7 @@ int UavcanNode::stop_fw_server()
 	}
 
 	_fw_server_action = None;
-	sem_post(&_server_command_sem);
+	px4_sem_post(&_server_command_sem);
 	return rv;
 }
 
@@ -263,7 +263,7 @@ int UavcanNode::fw_server(eServerAction action)
 	case CheckFW:
 		if (_fw_server_action == None) {
 			_fw_server_action = action;
-			sem_wait(&_server_command_sem);
+			px4_sem_wait(&_server_command_sem);
 			rv = _fw_server_status;
 		}
 
@@ -678,7 +678,7 @@ UavcanNode::control_callback(uintptr_t handle, uint8_t control_group, uint8_t co
 int
 UavcanNode::teardown()
 {
-	sem_post(&_server_command_sem);
+	px4_sem_post(&_server_command_sem);
 
 	for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
 		if (_control_subs[i] > 0) {
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
index acc1c32843..d023fe4583 100644
--- a/src/modules/uavcan/uavcan_main.hpp
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -148,7 +148,7 @@ private:
 
 	Node			_node;				///< library instance
 	pthread_mutex_t		_node_mutex;
-	sem_t                   _server_command_sem;
+	px4_sem_t                   _server_command_sem;
 	UavcanEscController	_esc_controller;
 
 	List<IUavcanSensorBridge *> _sensor_bridges;		///< List of active sensor bridges
diff --git a/src/modules/uavcan/uavcan_virtual_can_driver.hpp b/src/modules/uavcan/uavcan_virtual_can_driver.hpp
index 5ef9de0d87..1c861e481c 100644
--- a/src/modules/uavcan/uavcan_virtual_can_driver.hpp
+++ b/src/modules/uavcan/uavcan_virtual_can_driver.hpp
@@ -395,7 +395,7 @@ class VirtualCanDriver : public uavcan::ICanDriver,
 			int rv = sem_getvalue(&sem, &count);
 
 			if (rv > 0 && count <= 0) {
-				sem_post(&sem);
+				px4_sem_post(&sem);
 			}
 		}
 	};