diff --git a/libraries/AP_HAL_QURT/Storage.cpp b/libraries/AP_HAL_QURT/Storage.cpp
index 11bdc9bd3f..d9d1f74fd8 100644
--- a/libraries/AP_HAL_QURT/Storage.cpp
+++ b/libraries/AP_HAL_QURT/Storage.cpp
@@ -39,7 +39,7 @@ void Storage::write_block(uint16_t loc, const void *src, size_t n)
         return;
     }
     if (memcmp(src, &buffer[loc], n) != 0) {
-        lock.take(0);
+        lock.take(HAL_SEMAPHORE_BLOCK_FOREVER);
         memcpy(&buffer[loc], src, n);
         dirty = true;
         lock.give();
diff --git a/libraries/AP_HAL_QURT/UARTDriver.cpp b/libraries/AP_HAL_QURT/UARTDriver.cpp
index a555a9af72..ee0fd00e30 100644
--- a/libraries/AP_HAL_QURT/UARTDriver.cpp
+++ b/libraries/AP_HAL_QURT/UARTDriver.cpp
@@ -206,7 +206,7 @@ int16_t UARTDriver::read()
     if (!initialised) {
         return -1;
     }
-    if (!lock.take(0)) {
+    if (!lock.take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         return 0;
     }
     if (readbuf->empty()) {
@@ -224,7 +224,7 @@ size_t UARTDriver::write(uint8_t c)
     if (!initialised) {
         return 0;
     }
-    if (!lock.take(0)) {
+    if (!lock.take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         return 0;
     }
 
@@ -257,7 +257,7 @@ size_t UARTDriver::write(const uint8_t *buffer, size_t size)
         return ret;
     }
 
-    if (!lock.take(0)) {
+    if (!lock.take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         return 0;
     }
     size_t ret = writebuf->write(buffer, size);
diff --git a/libraries/AP_HAL_QURT/UDPDriver.cpp b/libraries/AP_HAL_QURT/UDPDriver.cpp
index bd1241273a..90434fe441 100644
--- a/libraries/AP_HAL_QURT/UDPDriver.cpp
+++ b/libraries/AP_HAL_QURT/UDPDriver.cpp
@@ -120,7 +120,7 @@ int16_t UDPDriver::read()
     if (!initialised) {
         return -1;
     }
-    if (!lock.take(0)) {
+    if (!lock.take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         return 0;
     }
     if (readbuf->empty()) {
@@ -138,7 +138,7 @@ size_t UDPDriver::write(uint8_t c)
     if (!initialised) {
         return 0;
     }
-    if (!lock.take(0)) {
+    if (!lock.take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         return 0;
     }
 
@@ -171,7 +171,7 @@ size_t UDPDriver::write(const uint8_t *buffer, size_t size)
         return ret;
     }
 
-    if (!lock.take(0)) {
+    if (!lock.take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
         return 0;
     }
     size_t ret = writebuf->write(buffer, size);
diff --git a/libraries/AP_HAL_QURT/dsp_main.cpp b/libraries/AP_HAL_QURT/dsp_main.cpp
index d57b2635c8..8349dfa03b 100644
--- a/libraries/AP_HAL_QURT/dsp_main.cpp
+++ b/libraries/AP_HAL_QURT/dsp_main.cpp
@@ -74,7 +74,7 @@ uint32_t ardupilot_set_storage(const uint8_t *buf, int len)
         HAP_PRINTF("Incorrect storage size %u", len);
         return 1;
     }
-    QURT::Storage::lock.take(0);
+    QURT::Storage::lock.take(HAL_SEMAPHORE_BLOCK_FOREVER);
     memcpy(QURT::Storage::buffer, buf, len);
     QURT::Storage::lock.give();
     return 0;
@@ -89,7 +89,7 @@ uint32_t ardupilot_get_storage(uint8_t *buf, int len)
     if (!QURT::Storage::dirty) {
         return 1;
     }
-    QURT::Storage::lock.take(0);
+    QURT::Storage::lock.take(HAL_SEMAPHORE_BLOCK_FOREVER);
     memcpy(buf, QURT::Storage::buffer, len);
     QURT::Storage::lock.give();
     return 0;