diff --git a/src/main/config/config.c b/src/main/config/config.c
index 3f6da107be..e01826d714 100644
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -483,6 +483,8 @@ static void resetConf(void)
         currentProfile->servoConf[i].max = DEFAULT_SERVO_MAX;
         currentProfile->servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
         currentProfile->servoConf[i].rate = servoRates[i];
+        currentProfile->servoConf[i].minLimit = DEFAULT_SERVO_MIN_LIMIT;
+        currentProfile->servoConf[i].maxLimit = DEFAULT_SERVO_MAX_LIMIT;
         currentProfile->servoConf[i].forwardFromChannel = CHANNEL_FORWARDING_DISABLED;
     }
 
diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
index a297f606fe..47ba5af790 100644
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@@ -97,6 +97,8 @@ typedef struct servoParam_t {
     int16_t max;                            // servo max
     int16_t middle;                         // servo middle
     int8_t rate;                            // range [-100;+100] ; can be used to ajust a rate 0-100% and a direction
+    int8_t minLimit;                        // range [-90;90] ; can be used to adjust a rate 0-100% and a direction
+    int8_t maxLimit;                        // range [-90;90] ; can be used to adjust a rate 0-100% and a direction
     int8_t forwardFromChannel;              // RX channel index, 0 based.  See CHANNEL_FORWARDING_DISABLED
 } servoParam_t;
 
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index acb52c9ec8..425b111b02 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -871,7 +871,7 @@ static void cliServo(char *cmdline)
 #ifndef USE_SERVOS
     UNUSED(cmdline);
 #else
-    enum { SERVO_ARGUMENT_COUNT = 6 };
+    enum { SERVO_ARGUMENT_COUNT = 8 };
     int16_t arguments[SERVO_ARGUMENT_COUNT];
 
     servoParam_t *servo;
@@ -884,11 +884,13 @@ static void cliServo(char *cmdline)
         for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
             servo = &currentProfile->servoConf[i];
 
-            printf("servo %u %d %d %d %d %d\r\n",
+            printf("servo %u %d %d %d %d %d %d %d\r\n",
                 i,
                 servo->min,
                 servo->max,
                 servo->middle,
+                servo->minLimit,
+                servo->maxLimit,
                 servo->rate,
                 servo->forwardFromChannel
             );
@@ -932,8 +934,10 @@ static void cliServo(char *cmdline)
         servo->min = arguments[1];
         servo->max = arguments[2];
         servo->middle = arguments[3];
-        servo->rate = arguments[4];
-        servo->forwardFromChannel = arguments[5];
+        servo->minLimit = arguments[4];
+        servo->maxLimit = arguments[5];
+        servo->rate = arguments[6];
+        servo->forwardFromChannel = arguments[7];
     }
 #endif
 }
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index 17f567e900..fbed12919c 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -292,6 +292,7 @@ static const char * const boardIdentifier = TARGET_BOARD_IDENTIFIER;
 #define MSP_SET_SERVO_CONF       212    //in message          Servo settings
 #define MSP_SET_MOTOR            214    //in message          PropBalance function
 #define MSP_SET_NAV_CONFIG       215    //in message          Sets nav config parameters - write to the eeprom
+#define MSP_SET_SERVO_LIMIT      216    //in message          Servo settings limits
 
 // #define MSP_BIND                 240    //in message          no param
 
@@ -828,12 +829,14 @@ static bool processOutCommand(uint8_t cmdMSP)
         s_struct((uint8_t *)&servo, MAX_SUPPORTED_SERVOS * 2);
         break;
     case MSP_SERVO_CONF:
-        headSerialReply(MAX_SUPPORTED_SERVOS * 7);
+        headSerialReply(MAX_SUPPORTED_SERVOS * 9);
         for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
             serialize16(currentProfile->servoConf[i].min);
             serialize16(currentProfile->servoConf[i].max);
             serialize16(currentProfile->servoConf[i].middle);
             serialize8(currentProfile->servoConf[i].rate);
+            serialize8(currentProfile->servoConf[i].minLimit);
+            serialize8(currentProfile->servoConf[i].maxLimit);
         }
         break;
     case MSP_CHANNEL_FORWARDING:
@@ -1431,6 +1434,14 @@ static bool processInCommand(void)
                 currentProfile->servoConf[i].rate = read8();
             }
         }
+#endif
+        break;
+    case MSP_SET_SERVO_LIMIT:
+#ifdef USE_SERVOS
+        for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
+            currentProfile->servoConf[i].minLimit = read8();
+            currentProfile->servoConf[i].maxLimit = read8();
+        }
 #endif
         break;
     case MSP_SET_CHANNEL_FORWARDING:
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index 273abeb9b1..8f937612b2 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -27,9 +27,11 @@
 #define PWM_PULSE_MIN   750       // minimum PWM pulse width which is considered valid
 #define PWM_PULSE_MAX   2250      // maximum PWM pulse width which is considered valid
 
-#define DEFAULT_SERVO_MIN 1020
+#define DEFAULT_SERVO_MIN 1000
 #define DEFAULT_SERVO_MIDDLE 1500
 #define DEFAULT_SERVO_MAX 2000
+#define DEFAULT_SERVO_MIN_LIMIT -90
+#define DEFAULT_SERVO_MAX_LIMIT 90
 
 typedef enum {
     SERIAL_RX_FRAME_PENDING = 0,