diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
index ca425cd110..2dcf95b92b 100644
--- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
@@ -106,11 +106,11 @@ void ActuatorEffectivenessHelicopter::updateParams()
 	int32_t linearize_servos = 0;
 	param_get(_param_handles.linearize_servos, &linearize_servos);
 	_geometry.linearize_servos = (linearize_servos != 0);
-	float max_sevo_throw = 0.f;
-	param_get(_param_handles.max_sevo_throw, &max_sevo_throw);
-	max_sevo_throw *=  M_PI_F / 180.0f;  //converting deg to rad
-	_geometry.max_sevo_height = sinf(max_sevo_throw);
-	_geometry.inverse_max_servo_throw = 1/max_sevo_throw;
+	float max_servo_throw_deg = 0.f;
+	param_get(_param_handles.max_servo_throw, &max_servo_throw_deg);
+	const float max_servo_throw = math::radians(max_servo_throw)
+	_geometry.max_servo_height = sinf(max_servo_throw);
+	_geometry.inverse_max_servo_throw = 1.f / max_servo_throw;
 }
 
 bool ActuatorEffectivenessHelicopter::getEffectivenessMatrix(Configuration &configuration,
@@ -197,13 +197,12 @@ void ActuatorEffectivenessHelicopter::updateSetpoint(const matrix::Vector<float,
 
 float ActuatorEffectivenessHelicopter::getLinearServoOutput(float input) const
 {
-
 	input = math::constrain(input, -1.0f, 1.0f);
 
 	//servo output is calculated by normalizing input to arm rotation of CA_MAX_SVO_THROW degrees as full input for a linear throw
 	float svo_height = _geometry.max_sevo_height * input;
 
-	if (std::isnan(svo_height)) {
+	if (!PX4_ISFINITE(svo_height)) {
 		svo_height = 0.0f;
 	}
 
diff --git a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
index c6b99407c0..4877f305b2 100644
--- a/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
+++ b/src/modules/control_allocator/VehicleActuatorEffectiveness/ActuatorEffectivenessHelicopter.hpp
@@ -67,7 +67,7 @@ public:
 		float yaw_sign;
 		float spoolup_time;
 		int linearize_servos;
-		float max_sevo_height;
+		float max_servo_height;
 		float inverse_max_servo_throw;
 	};
 
@@ -121,7 +121,7 @@ private:
 		param_t yaw_ccw;
 		param_t spoolup_time;
 		param_t linearize_servos;
-		param_t max_sevo_throw;
+		param_t max_servo_throw;
 		param_t inverse_max_servo_throw;
 	};
 	ParamHandles _param_handles{};
diff --git a/src/modules/control_allocator/module.yaml b/src/modules/control_allocator/module.yaml
index 90b51a9b29..f9f9d1a54a 100644
--- a/src/modules/control_allocator/module.yaml
+++ b/src/modules/control_allocator/module.yaml
@@ -575,7 +575,7 @@ parameters:
           description:
             short: Defines max/min throw of servo.
             long: |
-              Defines max/min throw of servo when linearizing servo output. Only used when CA_LIN_SERVO is enabled.
+              Defines min/max throw of servo when linearizing servo output. Only used when CA_LIN_SERVO is enabled.
           type: float
           decimal: 3
           unit: deg
@@ -1147,9 +1147,9 @@ mixer:
                         name: CA_HELI_YAW_CCW
                       - label: 'Throttle spoolup time'
                         name: COM_SPOOLUP_TIME
-                      - label: 'linearize servos'
+                      - label: 'Linearize servos'
                         name: CA_LIN_SERVO
-                      - label: 'max/min throw of servo in degrees'
+                      - label: 'Min/max servo throw in degrees'
                         name: CA_MAX_SVO_THROW
 
             11: # Helicopter (tail Servo)
@@ -1180,9 +1180,9 @@ mixer:
                       name: CA_HELI_YAW_CCW
                     - label: 'Throttle spoolup time'
                       name: COM_SPOOLUP_TIME
-                    - label: 'linearize servos'
+                    - label: 'Linearize servos'
                       name: CA_LIN_SERVO
-                    - label: 'max/min throw of servo in degrees'
+                    - label: 'Min/max servo throw in degrees'
                       name: CA_MAX_SVO_THROW