diff --git a/src/lib/mixer_module/mixer_module.cpp b/src/lib/mixer_module/mixer_module.cpp
index 29a07ba690..7fe50d8e44 100644
--- a/src/lib/mixer_module/mixer_module.cpp
+++ b/src/lib/mixer_module/mixer_module.cpp
@@ -598,53 +598,16 @@ MixingOutput::output_limit_calc(const bool armed, const int num_channels, const
 
 	case OutputLimitState::RAMP: {
 			hrt_abstime diff = hrt_elapsed_time(&_output_time_armed);
+			float progress = static_cast<float>(diff) / RAMP_TIME_US;
 
-			static constexpr int PROGRESS_INT_SCALING = 10000;
-			int progress = diff * PROGRESS_INT_SCALING / RAMP_TIME_US;
-
-			if (progress > PROGRESS_INT_SCALING) {
-				progress = PROGRESS_INT_SCALING;
+			if (progress > 1.f) {
+				progress = 1.f;
 			}
 
 			for (int i = 0; i < num_channels; i++) {
-
-				float control_value = output[i];
-
-				/* check for invalid / disabled channels */
-				if (!PX4_ISFINITE(control_value)) {
-					_current_output_value[i] = _disarmed_value[i];
-					continue;
-				}
-
-				uint16_t ramp_min_output;
-
-				/* if a disarmed output value was set, blend between disarmed and min */
-				if (_disarmed_value[i] > 0) {
-
-					/* safeguard against overflows */
-					auto disarmed = _disarmed_value[i];
-
-					if (disarmed > _min_value[i]) {
-						disarmed = _min_value[i];
-					}
-
-					int disarmed_min_diff = _min_value[i] - disarmed;
-					ramp_min_output = disarmed + (disarmed_min_diff * progress) / PROGRESS_INT_SCALING;
-
-				} else {
-					/* no disarmed output value set, choose min output */
-					ramp_min_output = _min_value[i];
-				}
-
-				if (_reverse_output_mask & (1 << i)) {
-					control_value = -1.f * control_value;
-				}
-
-				_current_output_value[i] = control_value * (_max_value[i] - ramp_min_output) / 2 + (_max_value[i] + ramp_min_output) /
-							   2;
-
-				/* last line of defense against invalid inputs */
-				_current_output_value[i] = math::constrain(_current_output_value[i], ramp_min_output, _max_value[i]);
+				// Ramp from disarmed value to currently desired output that would apply without ramp
+				uint16_t desired_output = output_limit_calc_single(i, output[i]);
+				_current_output_value[i] = _disarmed_value[i] + progress * (desired_output - _disarmed_value[i]);
 			}
 		}
 		break;