diff --git a/libraries/AP_HAL/board/chibios.h b/libraries/AP_HAL/board/chibios.h
index 8a3402b7482..c10c7230302 100644
--- a/libraries/AP_HAL/board/chibios.h
+++ b/libraries/AP_HAL/board/chibios.h
@@ -41,6 +41,7 @@
 // allow for static semaphores
 #include <AP_HAL_ChibiOS/Semaphores.h>
 #define HAL_Semaphore ChibiOS::Semaphore
+#define HAL_Semaphore_Recursive ChibiOS::Semaphore_Recursive
 
 /* string names for well known SPI devices */
 #define HAL_BARO_MS5611_NAME "ms5611"
diff --git a/libraries/AP_HAL/board/linux.h b/libraries/AP_HAL/board/linux.h
index c94f422ec78..0999dfacb92 100644
--- a/libraries/AP_HAL/board/linux.h
+++ b/libraries/AP_HAL/board/linux.h
@@ -398,3 +398,5 @@
 
 #include <AP_HAL_Linux/Semaphores.h>
 #define HAL_Semaphore Linux::Semaphore
+#define HAL_Semaphore_Recursive Linux::Semaphore_Recursive
+
diff --git a/libraries/AP_HAL/board/px4.h b/libraries/AP_HAL/board/px4.h
index 1cafbefb0a4..3db60721c5c 100644
--- a/libraries/AP_HAL/board/px4.h
+++ b/libraries/AP_HAL/board/px4.h
@@ -143,3 +143,5 @@
 
 #include <AP_HAL_PX4/Semaphores.h>
 #define HAL_Semaphore PX4::Semaphore
+#define HAL_Semaphore_Recursive PX4::Semaphore_Recursive
+
diff --git a/libraries/AP_HAL/board/sitl.h b/libraries/AP_HAL/board/sitl.h
index 5309360be66..71e6ff6fb9b 100644
--- a/libraries/AP_HAL/board/sitl.h
+++ b/libraries/AP_HAL/board/sitl.h
@@ -24,3 +24,5 @@
 // allow for static semaphores
 #include <AP_HAL_SITL/Semaphores.h>
 #define HAL_Semaphore HALSITL::Semaphore
+#define HAL_Semaphore_Recursive HALSITL::Semaphore_Recursive
+