diff --git a/platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_scheduler.cpp b/platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_scheduler.cpp
index 25d5479da2..259821dc77 100644
--- a/platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_scheduler.cpp
+++ b/platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_scheduler.cpp
@@ -306,42 +306,7 @@ int LockstepScheduler::cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *loc
 
 	pthread_mutex_lock(lock);
 #else
-
-	while (!timed_wait.timeout) {
-		struct timespec poll_deadline;
-		clock_gettime(CLOCK_REALTIME, &poll_deadline);
-		long total_ns = poll_deadline.tv_nsec + 500L * 1000L * 1000L;
-		poll_deadline.tv_sec += total_ns / 1000000000L;
-		poll_deadline.tv_nsec = total_ns % 1000000000L;
-
-		result = pthread_cond_timedwait(cond, lock, &poll_deadline);
-
-		if (timed_wait.timeout) {
-			break;
-		}
-
-		if (result == ETIMEDOUT) {
-			// Watchdog fired; re-check _time_us in case we lost the
-			// broadcast. _timed_waits_mutex is taken here only to
-			// synchronise with set_absolute_time.
-			_timed_waits_mutex.lock();
-
-			if (time_us <= _time_us) {
-				timed_wait.timeout = true;
-			}
-
-			_timed_waits_mutex.unlock();
-			continue;
-		}
-
-		if (result != 0) {
-			break;
-		}
-
-		// Spurious wakeup or real signal not reflected in `timeout`
-		// (shouldn't happen normally). Loop to re-check.
-	}
-
+	result = pthread_cond_wait(cond, lock);
 #endif
 
 	const bool timeout = timed_wait.timeout;
@@ -350,13 +315,6 @@ int LockstepScheduler::cond_timedwait(pthread_cond_t *cond, pthread_mutex_t *loc
 		result = ETIMEDOUT;
 	}
 
-	if (result == ETIMEDOUT && !timeout) {
-		// pthread_cond_timedwait returned ETIMEDOUT but broadcast also
-		// flipped `timeout` true between our check and this moment — we
-		// re-enter the loop above so this branch is effectively dead.
-		result = 0;
-	}
-
 	timed_wait.done = true;
 
 	if (!timeout && _setting_time) {