diff --git a/src/comm/MAVLinkSimulationLink.cc b/src/comm/MAVLinkSimulationLink.cc
index ec2d7ace0ac34ea81c663225ad7235cf340b726e..d6e338cb0c3a3ccc275059832a0cd1e2009b3142 100644
--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
@@ -116,7 +116,7 @@ void MAVLinkSimulationLink::run()
             }
             last = MG::TIME::getGroundTimeNow();
         }
-        msleep((rate / 20));
+        MG::SLEEP::msleep(2);
 
     }
 }
diff --git a/src/input/JoystickInput.cc b/src/input/JoystickInput.cc
index 4de27617b5bc3e69d104623143df939f5f2e655d..8fb7618589efd8b9fb2f598dc7f56063917ad216 100644
--- a/src/input/JoystickInput.cc
+++ b/src/input/JoystickInput.cc
@@ -104,7 +104,7 @@ void JoystickInput::init()
     // Wait for joysticks if none is connected
     while (numJoysticks == 0)
     {
-        msleep(200);
+        MG::SLEEP::msleep(200);
         // INITIALIZE SDL Joystick support
         if (SDL_InitSubSystem(SDL_INIT_JOYSTICK | SDL_INIT_NOPARACHUTE) < 0)
         {
@@ -276,7 +276,7 @@ void JoystickInput::run()
         }
 
         // Sleep, update rate of joystick is approx. 50 Hz (1000 ms / 50 = 20 ms)
-        msleep(20);
+        MG::SLEEP::msleep(20);
 
     }