diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.c b/src/modules/systemlib/pwm_limit/pwm_limit.c
index adcfb703c0..2f72d347c6 100644
--- a/src/modules/systemlib/pwm_limit/pwm_limit.c
+++ b/src/modules/systemlib/pwm_limit/pwm_limit.c
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *   Author: Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -35,9 +34,9 @@
 /**
  * @file pwm_limit.c
  *
- * Lib to limit PWM output
+ * Library for PWM output limiting
  *
- * @author Julian Oes <joes@student.ethz.ch>
+ * @author Julian Oes <julian@px4.io>
  */
 
 #include "pwm_limit.h"
@@ -46,6 +45,8 @@
 #include <drivers/drv_hrt.h>
 #include <stdio.h>
 
+#define PROGRESS_INT_SCALING	10000
+
 void pwm_limit_init(pwm_limit_t *limit)
 {
 	limit->state = PWM_LIMIT_STATE_INIT;
@@ -112,7 +113,11 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
 			{
 				hrt_abstime diff = hrt_elapsed_time(&limit->time_armed);
 
-				progress = diff * 10000 / RAMP_TIME_US;
+				progress = diff * PROGRESS_INT_SCALING / RAMP_TIME_US;
+
+				if (progress > PROGRESS_INT_SCALING) {
+					progress = PROGRESS_INT_SCALING;
+				}
 
 				for (unsigned i=0; i<num_channels; i++) {
 	                
@@ -128,7 +133,7 @@ void pwm_limit_calc(const bool armed, const unsigned num_channels, const uint16_
 						}
 
 						unsigned disarmed_min_diff = min_pwm[i] - disarmed;
-						ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / 10000;
+						ramp_min_pwm = disarmed + (disarmed_min_diff * progress) / PROGRESS_INT_SCALING;
 
 					} else {
 	                    
diff --git a/src/modules/systemlib/pwm_limit/pwm_limit.h b/src/modules/systemlib/pwm_limit/pwm_limit.h
index 6ad3d75599..4e2ae374fd 100644
--- a/src/modules/systemlib/pwm_limit/pwm_limit.h
+++ b/src/modules/systemlib/pwm_limit/pwm_limit.h
@@ -1,7 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Julian Oes <joes@student.ethz.ch>
+ *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -33,11 +32,11 @@
  ****************************************************************************/
 
 /**
- * @file pwm_limit.h
+ * @file pwm_limit.c
  *
- * Lib to limit PWM output
+ * Library for PWM output limiting
  *
- * @author Julian Oes <joes@student.ethz.ch>
+ * @author Julian Oes <julian@px4.io>
  */
 
 #ifndef PWM_LIMIT_H_