diff --git a/libraries/SRV_Channel/SRV_Channel.cpp b/libraries/SRV_Channel/SRV_Channel.cpp
index a06690b9a8..b1d1fcc55f 100644
--- a/libraries/SRV_Channel/SRV_Channel.cpp
+++ b/libraries/SRV_Channel/SRV_Channel.cpp
@@ -84,33 +84,33 @@ SRV_Channel::SRV_Channel(void)
 }
 
 // convert a 0..range_max to a pwm
-uint16_t SRV_Channel::pwm_from_range(int16_t scaled_value) const
+uint16_t SRV_Channel::pwm_from_range(float scaled_value) const
 {
     if (servo_max <= servo_min || high_out == 0) {
         return servo_min;
     }
-    scaled_value = constrain_int16(scaled_value, 0, high_out);
+    scaled_value = constrain_float(scaled_value, 0, high_out);
     if (reversed) {
         scaled_value = high_out - scaled_value;
     }
-    return servo_min + ((int32_t)scaled_value * (int32_t)(servo_max - servo_min)) / (int32_t)high_out;
+    return servo_min + uint16_t( (scaled_value * (float)(servo_max - servo_min)) / (float)high_out );
 }
 
 // convert a -angle_max..angle_max to a pwm
-uint16_t SRV_Channel::pwm_from_angle(int16_t scaled_value) const
+uint16_t SRV_Channel::pwm_from_angle(float scaled_value) const
 {
     if (reversed) {
         scaled_value = -scaled_value;
     }
-    scaled_value = constrain_int16(scaled_value, -high_out, high_out);
+    scaled_value = constrain_float(scaled_value, -high_out, high_out);
     if (scaled_value > 0) {
-        return servo_trim + ((int32_t)scaled_value * (int32_t)(servo_max - servo_trim)) / (int32_t)high_out;
+        return servo_trim + uint16_t( (scaled_value * (float)(servo_max - servo_trim)) / (float)high_out);
     } else {
-        return servo_trim - (-(int32_t)scaled_value * (int32_t)(servo_trim - servo_min)) / (int32_t)high_out;
+        return servo_trim - uint16_t( (-scaled_value * (float)(servo_trim - servo_min)) / (float)high_out);
     }
 }
 
-void SRV_Channel::calc_pwm(int16_t output_scaled)
+void SRV_Channel::calc_pwm(float output_scaled)
 {
     if (have_pwm_mask & (1U<<ch_num)) {
         // Note that this allows a set_output_pwm call to override E-Stop!!
@@ -121,7 +121,7 @@ void SRV_Channel::calc_pwm(int16_t output_scaled)
     // check for E - stop
     bool force = false;
     if (SRV_Channel::should_e_stop(get_function()) && SRV_Channels::emergency_stop) {
-        output_scaled = 0;
+        output_scaled = 0.0;
         force = true;
     }
 
diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h
index b7bf15964b..9e4ad16e5b 100644
--- a/libraries/SRV_Channel/SRV_Channel.h
+++ b/libraries/SRV_Channel/SRV_Channel.h
@@ -285,13 +285,13 @@ private:
     uint16_t high_out;
 
     // convert a 0..range_max to a pwm
-    uint16_t pwm_from_range(int16_t scaled_value) const;
+    uint16_t pwm_from_range(float scaled_value) const;
 
     // convert a -angle_max..angle_max to a pwm
-    uint16_t pwm_from_angle(int16_t scaled_value) const;
+    uint16_t pwm_from_angle(float scaled_value) const;
 
     // convert a scaled output to a pwm value
-    void calc_pwm(int16_t output_scaled);
+    void calc_pwm(float output_scaled);
 
     // output value based on function
     void output_ch(void);
@@ -351,10 +351,10 @@ public:
 
     // set output value for a function channel as a scaled value. This
     // calls calc_pwm() to also set the pwm value
-    static void set_output_scaled(SRV_Channel::Aux_servo_function_t function, int16_t value);
+    static void set_output_scaled(SRV_Channel::Aux_servo_function_t function, float value);
 
     // get scaled output for the given function type.
-    static int16_t get_output_scaled(SRV_Channel::Aux_servo_function_t function);
+    static float get_output_scaled(SRV_Channel::Aux_servo_function_t function);
 
     // get pwm output for the first channel of the given function type.
     static bool get_output_pwm(SRV_Channel::Aux_servo_function_t function, uint16_t &value);
@@ -593,7 +593,7 @@ private:
         SRV_Channel::servo_mask_t channel_mask;
 
         // scaled output for this function
-        int16_t output_scaled;
+        float output_scaled;
     } functions[SRV_Channel::k_nr_aux_servo_functions];
 
     AP_Int8 auto_trim;
diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp
index 56092fcf32..cfd1f81e4e 100644
--- a/libraries/SRV_Channel/SRV_Channel_aux.cpp
+++ b/libraries/SRV_Channel/SRV_Channel_aux.cpp
@@ -522,7 +522,7 @@ SRV_Channel *SRV_Channels::get_channel_for(SRV_Channel::Aux_servo_function_t fun
     return &channels[chan];
 }
 
-void SRV_Channels::set_output_scaled(SRV_Channel::Aux_servo_function_t function, int16_t value)
+void SRV_Channels::set_output_scaled(SRV_Channel::Aux_servo_function_t function, float value)
 {
     if (function < SRV_Channel::k_nr_aux_servo_functions) {
         functions[function].output_scaled = value;
@@ -530,7 +530,7 @@ void SRV_Channels::set_output_scaled(SRV_Channel::Aux_servo_function_t function,
     }
 }
 
-int16_t SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t function)
+float SRV_Channels::get_output_scaled(SRV_Channel::Aux_servo_function_t function)
 {
     if (function < SRV_Channel::k_nr_aux_servo_functions) {
         return functions[function].output_scaled;