diff --git a/sched/hrtimer/hrtimer.h b/sched/hrtimer/hrtimer.h
index 9ec29bc227f..606cd086350 100644
--- a/sched/hrtimer/hrtimer.h
+++ b/sched/hrtimer/hrtimer.h
@@ -43,7 +43,7 @@
 
 /* Delay used while waiting for a running hrtimer callback to complete */
 
-#define HRTIMER_CANCEL_SYNC_DELAY_MS  5
+#define HRTIMER_CANCEL_SYNC_DELAY_US CONFIG_USEC_PER_TICK
 
 /****************************************************************************
  * Public Types
@@ -513,7 +513,7 @@ static inline_function void hrtimer_wait(FAR hrtimer_t *timer)
         {
           if (!up_interrupt_context() && !is_idle_task(this_task()))
             {
-              nxsched_msleep(HRTIMER_CANCEL_SYNC_DELAY_MS);
+              nxsched_usleep(HRTIMER_CANCEL_SYNC_DELAY_US);
             }
 
           /* Otherwise, spin-wait is enough. */