diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index dd9c399193..8c196cd5bd 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -920,8 +920,8 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
         break;
 
     case MAV_CMD_NAV_LOITER_TURNS: {                    // MAV ID: 18
-        uint16_t num_turns = packet.param1;              // param 1 is number of times to circle is held in low p1
-        uint16_t radius_m = fabsf(packet.param3);        // param 3 is radius in meters is held in high p1
+        uint16_t num_turns = MIN(255,packet.param1);              // param 1 is number of times to circle is held in low p1
+        uint16_t radius_m = MIN(255,fabsf(packet.param3));        // param 3 is radius in meters is held in high p1
         cmd.p1 = (radius_m<<8) | (num_turns & 0x00FF);   // store radius in high byte of p1, num turns in low byte of p1
         cmd.content.location.loiter_ccw = (packet.param3 < 0);
         cmd.content.location.loiter_xtrack = (packet.param4 > 0); // 0 to xtrack from center of waypoint, 1 to xtrack from tangent exit location