diff --git a/src/drivers/device/vdev_posix.cpp b/src/drivers/device/vdev_posix.cpp
index 33aaa1647f..f9a6ebc559 100644
--- a/src/drivers/device/vdev_posix.cpp
+++ b/src/drivers/device/vdev_posix.cpp
@@ -43,6 +43,7 @@
 #include "device.h"
 #include "vfile.h"
 
+#include <hrt_work.h>
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>
@@ -61,7 +62,7 @@ struct timerData {
 	~timerData() {}
 };
 
-static void *timer_handler(void *data)
+static void timer_cb(void *data)
 {
 	struct timerData *td = (struct timerData *)data;
 
@@ -72,7 +73,6 @@ static void *timer_handler(void *data)
 	sem_post(&(td->sem));
 
 	PX4_DEBUG("timer_handler: Timer expired");
-	return 0;
 }
 
 #define PX4_MAX_FD 200
@@ -239,25 +239,16 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
 	{
 		if (timeout >= 0)
 		{
-			pthread_t pt;
-			void *res;
+			// Use a work queue task
+			work_s _hpwork;
 
-			ts.tv_sec = timeout/1000;
-			ts.tv_nsec = (timeout % 1000)*1000000;
-
-			// Create a timer to unblock
 			struct timerData td(sem, ts);
-			int rv = pthread_create(&pt, NULL, timer_handler, (void *)&td);
-			if (rv != 0) {
-				count = -1;
-				goto cleanup;
-			}
+			hrt_work_queue(&_hpwork, (worker_t)&timer_cb, (void *)&td, 1000*timeout);
 			sem_wait(&sem);
 
 			// Make sure timer thread is killed before sem goes
 			// out of scope
-			(void)pthread_cancel(pt);
-			(void)pthread_join(pt, &res);
+			hrt_work_cancel(&_hpwork);
         	}
 		else
 		{
@@ -283,7 +274,6 @@ int px4_poll(px4_pollfd_struct_t *fds, nfds_t nfds, int timeout)
 		}
 	}
 
-cleanup:
 	sem_destroy(&sem);
 
 	return count;
diff --git a/src/platforms/posix/px4_layer/hrt_work.h b/src/platforms/posix/include/hrt_work.h
similarity index 95%
rename from src/platforms/posix/px4_layer/hrt_work.h
rename to src/platforms/posix/include/hrt_work.h
index d926a6d250..39e53f95d2 100644
--- a/src/platforms/posix/px4_layer/hrt_work.h
+++ b/src/platforms/posix/include/hrt_work.h
@@ -43,12 +43,9 @@ extern sem_t _hrt_work_lock;
 extern struct wqueue_s g_hrt_work;
 
 void hrt_work_queue_init(void);
-int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay);
+int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t usdelay);
 void hrt_work_cancel(struct work_s *work);
 
-//inline void hrt_work_lock(void);
-//inline void hrt_work_unlock(void);
-
 static inline void hrt_work_lock()
 {
 	//PX4_INFO("hrt_work_lock");
diff --git a/src/platforms/qurt/px4_layer/hrt_work.h b/src/platforms/qurt/include/hrt_work.h
similarity index 99%
rename from src/platforms/qurt/px4_layer/hrt_work.h
rename to src/platforms/qurt/include/hrt_work.h
index 566684eb86..92b079ac6b 100644
--- a/src/platforms/qurt/px4_layer/hrt_work.h
+++ b/src/platforms/qurt/include/hrt_work.h
@@ -43,7 +43,7 @@ extern sem_t _hrt_work_lock;
 extern struct wqueue_s g_hrt_work;
 
 void hrt_work_queue_init(void);
-int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t delay);
+int hrt_work_queue(struct work_s *work, worker_t worker, void *arg, uint32_t usdelay);
 void hrt_work_cancel(struct work_s *work);
 
 inline void hrt_work_lock(void);