diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
index 75d9d97af2..507d2e3e9b 100644
--- a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
+++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
@@ -85,7 +85,6 @@ bool GZMixingInterfaceESC::updateOutputs(uint16_t outputs[MAX_ACTUATORS], unsign
 		}
 
 		if (_actuators_pub.Valid()) {
-			PX4_INFO("Update complete");
 			return _actuators_pub.Publish(rotor_velocity_message);
 		}
 	}
@@ -111,8 +110,10 @@ void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuato
 
 	esc_status_s esc_status{};
 	esc_status.esc_count = actuators.velocity_size();
+	// Limit to max supported ESCs while allowing for a larger number of system actuators
+	int actuators_size = math::min(actuators.velocity_size(), static_cast<int>(esc_status_s::CONNECTED_ESC_MAX));
 
-	for (int i = 0; i < actuators.velocity_size(); i++) {
+	for (int i = 0; i < actuators_size; i++) {
 		esc_status.esc[i].timestamp = hrt_absolute_time();
 		esc_status.esc[i].esc_rpm = actuators.velocity(i);
 		esc_status.esc_online_flags |= 1 << i;
diff --git a/src/modules/simulation/gz_bridge/module.yaml b/src/modules/simulation/gz_bridge/module.yaml
index 9ebc757830..e6cd8d65b0 100644
--- a/src/modules/simulation/gz_bridge/module.yaml
+++ b/src/modules/simulation/gz_bridge/module.yaml
@@ -1,3 +1,4 @@
+__max_num_motors: &max_num_motors 12
 __max_num_servos: &max_num_servos 8
 __max_num_tilts: &max_num_tilts 4
 
@@ -18,7 +19,7 @@ actuator_output:
         min: { min: 0, max: 1000, default: 0 }
         max: { min: 0, max: 1000, default: 1000 }
         failsafe: { min: 0, max: 1000 }
-      num_channels: 12
+      num_channels: *max_num_motors
     - param_prefix: SIM_GZ_SV
       group_label: 'Servos'
       channel_label: 'Servo'
diff --git a/src/modules/uxrce_dds_client/dds_topics.yaml b/src/modules/uxrce_dds_client/dds_topics.yaml
index dc6cc1f2cf..db054b0df2 100644
--- a/src/modules/uxrce_dds_client/dds_topics.yaml
+++ b/src/modules/uxrce_dds_client/dds_topics.yaml
@@ -52,7 +52,7 @@ publications:
 
   - topic: /fmu/out/transponder_report
     type: px4_msgs::msg::TransponderReport
- 
+
   # - topic: /fmu/out/vehicle_angular_velocity
   #   type: px4_msgs::msg::VehicleAngularVelocity