diff --git a/src/main/cli/cli.c b/src/main/cli/cli.c
index cf53152b4b..4f8b412f7b 100644
--- a/src/main/cli/cli.c
+++ b/src/main/cli/cli.c
@@ -2178,8 +2178,8 @@ static void cliServo(const char *cmdName, char *cmdline)
         servo = servoParamsMutable(i);
 
         if (
-            arguments[MIN] < PWM_PULSE_MIN || arguments[MIN] > PWM_PULSE_MAX ||
-            arguments[MAX] < PWM_PULSE_MIN || arguments[MAX] > PWM_PULSE_MAX ||
+            arguments[MIN] < PWM_SERVO_MIN || arguments[MIN] > PWM_SERVO_MAX ||
+            arguments[MAX] < PWM_SERVO_MIN || arguments[MAX] > PWM_SERVO_MAX ||
             arguments[MIDDLE] < arguments[MIN] || arguments[MIDDLE] > arguments[MAX] ||
             arguments[MIN] > arguments[MAX] ||
             arguments[RATE] < -100 || arguments[RATE] > 100 ||
diff --git a/src/main/flight/servos.c b/src/main/flight/servos.c
index 71b26b4d8d..fd674d962b 100644
--- a/src/main/flight/servos.c
+++ b/src/main/flight/servos.c
@@ -211,7 +211,7 @@ int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
     const uint8_t channelToForwardFrom = servoParams(servoIndex)->forwardFromChannel;
 
     if (channelToForwardFrom != CHANNEL_FORWARDING_DISABLED && channelToForwardFrom < rxRuntimeState.channelCount) {
-        return rcData[channelToForwardFrom];
+        return scaleRangef(constrainf(rcData[channelToForwardFrom], PWM_RANGE_MIN, PWM_RANGE_MAX), PWM_RANGE_MIN, PWM_RANGE_MAX, servoParams(servoIndex)->min, servoParams(servoIndex)->max);
     }
 
     return servoParams(servoIndex)->middle;
diff --git a/src/main/flight/servos.h b/src/main/flight/servos.h
index 365074b89d..1c4b6b3bd6 100644
--- a/src/main/flight/servos.h
+++ b/src/main/flight/servos.h
@@ -24,6 +24,13 @@
 #include "drivers/io_types.h"
 #include "drivers/pwm_output.h"
 
+#define PWM_SERVO_MIN   500       // minimum servo PWM pulse width which we can set from cli
+#define PWM_SERVO_MAX   2500      // maximum servo PWM pulse width which we can set from cli
+
+#define DEFAULT_SERVO_MIN 1000
+#define DEFAULT_SERVO_MIDDLE 1500
+#define DEFAULT_SERVO_MAX 2000
+
 // These must be consecutive, see 'reversedSources'
 enum {
     INPUT_STABILIZED_ROLL = 0,
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index 76bfdaf97f..878131ee4c 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -41,9 +41,6 @@
 #define CHANNEL_VALUE_TO_RXFAIL_STEP(channelValue) ((constrain(channelValue, PWM_PULSE_MIN, PWM_PULSE_MAX) - PWM_PULSE_MIN) / 25)
 #define MAX_RXFAIL_RANGE_STEP ((PWM_PULSE_MAX - PWM_PULSE_MIN) / 25)
 
-#define DEFAULT_SERVO_MIN 1000
-#define DEFAULT_SERVO_MIDDLE 1500
-#define DEFAULT_SERVO_MAX 2000
 
 typedef enum {
     RX_FRAME_PENDING = 0,