diff --git a/platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h b/platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h
index 96615af30d..6daca09771 100644
--- a/platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h
+++ b/platforms/nuttx/src/px4/common/include/px4_platform/micro_hal.h
@@ -48,6 +48,9 @@ __BEGIN_DECLS
 #define px4_enter_critical_section()       enter_critical_section()
 #define px4_leave_critical_section(flags)  leave_critical_section(flags)
 
+#define px4_udelay(usec) up_udelay(usec)
+#define px4_mdelay(msec) up_mdelay(msec)
+
 #include <arch/board/board.h>
 
 __END_DECLS
diff --git a/platforms/posix/src/px4/common/include/px4_platform/micro_hal.h b/platforms/posix/src/px4/common/include/px4_platform/micro_hal.h
index 8c86ca6119..bf89f838f0 100644
--- a/platforms/posix/src/px4/common/include/px4_platform/micro_hal.h
+++ b/platforms/posix/src/px4/common/include/px4_platform/micro_hal.h
@@ -33,3 +33,6 @@
 #pragma once
 
 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a) -1
+
+#define px4_udelay(usec) px4_usleep(usec)
+#define px4_mdelay(msec) px4_msleep(msec)
diff --git a/src/drivers/imu/adis16477/ADIS16477.cpp b/src/drivers/imu/adis16477/ADIS16477.cpp
index ac11eadb8c..e0eec84b4a 100644
--- a/src/drivers/imu/adis16477/ADIS16477.cpp
+++ b/src/drivers/imu/adis16477/ADIS16477.cpp
@@ -237,9 +237,9 @@ ADIS16477::read_reg16(uint8_t reg)
 
 	cmd[0] = ((reg | DIR_READ) << 8) & 0xff00;
 	transferhword(cmd, nullptr, 1);
-	up_udelay(T_STALL);
+	px4_udelay(T_STALL);
 	transferhword(nullptr, cmd, 1);
-	up_udelay(T_STALL);
+	px4_udelay(T_STALL);
 
 	return cmd[0];
 }
@@ -262,9 +262,9 @@ ADIS16477::write_reg16(uint8_t reg, uint16_t value)
 	cmd[1] = (((reg + 0x1) | DIR_WRITE) << 8) | ((0xff00 & value) >> 8);
 
 	transferhword(cmd, nullptr, 1);
-	up_udelay(T_STALL);
+	px4_udelay(T_STALL);
 	transferhword(cmd + 1, nullptr, 1);
-	up_udelay(T_STALL);
+	px4_udelay(T_STALL);
 }
 
 void
diff --git a/src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp b/src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp
index 0f88db4963..9766871f74 100644
--- a/src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp
+++ b/src/drivers/imu/analog_devices/adis16448/ADIS16448.cpp
@@ -563,7 +563,7 @@ uint16_t ADIS16448::RegisterRead(Register reg)
 	cmd[0] = (static_cast<uint16_t>(reg) << 8);
 
 	transferhword(cmd, nullptr, 1);
-	usleep(SPI_STALL_PERIOD);
+	px4_udelay(SPI_STALL_PERIOD);
 	transferhword(nullptr, cmd, 1);
 
 	return cmd[0];
@@ -578,7 +578,7 @@ void ADIS16448::RegisterWrite(Register reg, uint16_t value)
 	cmd[1] = (((static_cast<uint16_t>(reg) + 1) | DIR_WRITE) << 8) | ((0xFF00 & value) >> 8);
 
 	transferhword(cmd, nullptr, 1);
-	usleep(SPI_STALL_PERIOD);
+	px4_udelay(SPI_STALL_PERIOD);
 	transferhword(cmd + 1, nullptr, 1);
 }