diff --git a/libraries/AP_Common/AP_Common.cpp b/libraries/AP_Common/AP_Common.cpp
index eb29870f7c..b56838efa3 100644
--- a/libraries/AP_Common/AP_Common.cpp
+++ b/libraries/AP_Common/AP_Common.cpp
@@ -24,12 +24,13 @@
 extern const AP_HAL::HAL& hal;
 
 /*
-  Return true if value is between lower and upper bound.  False otherwise.
+  Return true if value is between lower and upper bound inclusive.
+  False otherwise.
 */
-bool is_bounded(int32_t value, int32_t lower_bound, int32_t upper_bound)
+bool is_bounded_int32(int32_t value, int32_t lower_bound, int32_t upper_bound)
 {
-    if ((lower_bound < upper_bound) &&
-        (value > lower_bound) && (value < upper_bound)) {
+    if ((lower_bound <= upper_bound) &&
+        (value >= lower_bound) && (value <= upper_bound)) {
         return true;
     }
 
diff --git a/libraries/AP_Common/AP_Common.h b/libraries/AP_Common/AP_Common.h
index ea17cd1a75..8bbaf914f1 100644
--- a/libraries/AP_Common/AP_Common.h
+++ b/libraries/AP_Common/AP_Common.h
@@ -155,7 +155,10 @@ enum HomeState {
 #define AP_PRODUCT_ID_MPU9250           0x103   // MPU9250
 #define AP_PRODUCT_ID_VRBRAIN           0x150   // VRBRAIN on NuttX
 
-
-bool is_bounded(int32_t value, int32_t lower_bound, int32_t upper_bound);
+/*
+  Return true if value is between lower and upper bound inclusive.
+  False otherwise.
+*/
+bool is_bounded_int32(int32_t value, int32_t lower_bound, int32_t upper_bound);
 
 #endif // _AP_COMMON_H