diff --git a/src/drivers/uavcan/actuators/servo.cpp b/src/drivers/uavcan/actuators/servo.cpp
index 56fdea4bba..57b3910e80 100644
--- a/src/drivers/uavcan/actuators/servo.cpp
+++ b/src/drivers/uavcan/actuators/servo.cpp
@@ -53,7 +53,7 @@ UavcanServoController::update_outputs(bool stop_motors, uint16_t outputs[MAX_ACT
 		uavcan::equipment::actuator::Command cmd;
 		cmd.actuator_id = i;
 		cmd.command_type = uavcan::equipment::actuator::Command::COMMAND_TYPE_UNITLESS;
-		cmd.command_value = (float)outputs[i] / 500.f - 1.f; // [-1, 1]
+		cmd.command_value = (float)outputs[i] / 500.f - 3.f; // [1000, 2000] -> [-1, 1]
 
 		msg.commands.push_back(cmd);
 	}