diff --git a/platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_components.cpp b/platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_components.cpp
index 88aa1f12a2..01151a9d06 100644
--- a/platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_components.cpp
+++ b/platforms/posix/src/px4/common/lockstep_scheduler/src/lockstep_components.cpp
@@ -44,6 +44,7 @@
 #include <limits.h>
 #include <stdlib.h>
 
+#if defined(__PX4_WINDOWS)
 static uint64_t lockstep_wall_time_us()
 {
 	timespec ts{};
@@ -71,6 +72,7 @@ static uint64_t lockstep_component_wait_budget_us()
 
 	return wait_budget_us;
 }
+#endif // __PX4_WINDOWS
 
 LockstepComponents::LockstepComponents(bool no_cleanup_on_destroy)
 	: _no_cleanup_on_destroy(no_cleanup_on_destroy)
@@ -158,10 +160,14 @@ void LockstepComponents::wait_for_components()
 		return;
 	}
 
-#if defined(__PX4_WINDOWS) || defined(__PX4_LINUX)
-	// Do not let one temporarily blocked component stall the simulator forever.
-	// Keep the watchdog short: high lockstep speed factors need sub-millisecond
-	// barrier overhead, and active components normally release the latch first.
+#if defined(__PX4_WINDOWS)
+	// Windows-only: winpthreads occasionally drops pthread_cond_broadcast
+	// wakes, which can leave the producer blocked here forever. Use a
+	// short wall-time watchdog so a lost wake caps barrier latency at
+	// ~100 us instead of stalling the simulator. Linux uses the original
+	// blocking wait below because POSIX condition variables on Linux
+	// reliably deliver every broadcast and the blocking path preserves
+	// strict producer/consumer ordering at startup.
 	const uint64_t wait_start_us = lockstep_wall_time_us();
 	const uint64_t max_wait_us = lockstep_component_wait_budget_us();
 	unsigned spin_count = 0;