diff --git a/src/modules/uavcan/uavcan_main.cpp b/src/modules/uavcan/uavcan_main.cpp
index 3552e24753..f81557a547 100644
--- a/src/modules/uavcan/uavcan_main.cpp
+++ b/src/modules/uavcan/uavcan_main.cpp
@@ -1383,15 +1383,18 @@ int uavcan_main(int argc, char *argv[])
 
 			// Sanity check - weed out negative values, check against maximums
 			if (hardpoint_id >= 0 &&
-				hardpoint_id < 9 &&
+				hardpoint_id < 256 &&
 				command >= 0 &&
-				command < 11) {
+				command < 65536) {
 				inst->hardpoint_controller_set((uint8_t) hardpoint_id, (uint16_t) command);
 			}
 			else {
 				errx(1, "Are you nuts?");
 			}
 		}
+		else {
+			errx(1, "Are you nuts?");
+		}
 	}
 	if (!std::strcmp(argv[1], "stop")) {
 		if (fw) {
diff --git a/src/modules/uavcan/uavcan_main.hpp b/src/modules/uavcan/uavcan_main.hpp
index f3377f7db3..45ed9dedeb 100644
--- a/src/modules/uavcan/uavcan_main.hpp
+++ b/src/modules/uavcan/uavcan_main.hpp
@@ -123,13 +123,15 @@ public:
 
 	void		subscribe();
 
-	int		teardown();
-	int		arm_actuators(bool arm);
+	int			teardown();
+	int			arm_actuators(bool arm);
 
 	void		print_info();
 
 	void		shrink();
 
+	void		hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command);
+
 	static UavcanNode *instance() { return _instance; }
 	static int         getHardwareVersion(uavcan::protocol::HardwareVersion &hwver);
 	int             fw_server(eServerAction action);
@@ -140,7 +142,7 @@ public:
 	int             get_param(int remote_node_id, const char *name);
 	int             reset_node(int remote_node_id);
 
-	void hardpoint_controller_set(uint8_t hardpoint_id, uint16_t command);
+
 
 private:
 	void		fill_node_info();