diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index f62df54f6c..1c4cc18384 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1675,14 +1675,20 @@ PX4IO::io_publish_pwm_outputs()
 	uint16_t ctl[_max_actuators];
 	int ret = io_reg_get(PX4IO_PAGE_SERVOS, 0, ctl, _max_actuators);
 
-	if (ret != OK)
+	if (ret != OK){
 		return ret;
+	}
+
+	unsigned maxouts = sizeof(outputs.output) / sizeof(outputs.output[0]);
+	unsigned actuator_max = (_max_actuators > maxouts) ? maxouts : _max_actuators;
+
 
 	/* convert from register format to float */
-	for (unsigned i = 0; i < _max_actuators; i++)
+	for (unsigned i = 0; i < actuator_max; i++){
 		outputs.output[i] = ctl[i];
+	}
 
-	outputs.noutputs = _max_actuators;
+	outputs.noutputs = actuator_max;
 
 	/* lazily advertise on first publication */
 	if (_to_outputs == 0) {
@@ -1998,13 +2004,13 @@ PX4IO::print_status(bool extended_status)
 		printf("vrssi %u\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_VRSSI));
 	}
 
-	printf("actuators");
+	printf("actuators (including S.BUS)");
 
 	for (unsigned i = 0; i < _max_actuators; i++)
 		printf(" %hi", int16_t(io_reg_get(PX4IO_PAGE_ACTUATORS, i)));
 
 	printf("\n");
-	printf("servos");
+	printf("hardware servo ports");
 
 	for (unsigned i = 0; i < _max_actuators; i++)
 		printf(" %u", io_reg_get(PX4IO_PAGE_SERVOS, i));