diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 903d7e14a6..79288283c2 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -145,11 +145,11 @@ void AP_MotorsMatrix::output_armed()
 
     // Throttle is 0 to 1000 only
     // To-Do: we should not really be limiting this here because we don't "own" this _rc_throttle object
-    if (_rc_throttle.servo_out < 0) {
+    if (_rc_throttle.servo_out <= 0) {
         _rc_throttle.servo_out = 0;
         limit.throttle_lower = true;
     }
-    if (_rc_throttle.servo_out > _max_throttle) {
+    if (_rc_throttle.servo_out >= _max_throttle) {
         _rc_throttle.servo_out = _max_throttle;
         limit.throttle_upper = true;
     }
@@ -179,12 +179,11 @@ void AP_MotorsMatrix::output_armed()
         // Every thing is limited
         limit.roll_pitch = true;
         limit.yaw = true;
-        limit.throttle_lower = true;
 
     } else {
 
         // check if throttle is below limit
-        if (_rc_throttle.radio_out <= out_min_pwm) {       // perhaps being at min throttle itself is not a problem, only being under is
+        if (_rc_throttle.servo_out <= _min_throttle) {  // perhaps being at min throttle itself is not a problem, only being under is
             limit.throttle_lower = true;
         }