diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp
index 9c7969b2dc..2fc656074c 100644
--- a/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp
+++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp
@@ -33,6 +33,74 @@
 
 #include "GZMixingInterfaceServo.hpp"
 
+
+float
+GZMixingInterfaceServo::get_servo_angle_max(const size_t index)
+{
+	float angle;
+
+	switch (index) {
+	case 0: {angle = _servo_max_angle_1.get(); break;}
+
+	case 1: {angle = _servo_max_angle_2.get(); break;}
+
+	case 2: {angle = _servo_max_angle_3.get(); break;}
+
+	case 3: {angle = _servo_max_angle_4.get(); break;}
+
+	case 4: {angle = _servo_max_angle_5.get(); break;}
+
+	case 5: {angle = _servo_max_angle_6.get(); break;}
+
+	case 6: {angle = _servo_max_angle_7.get(); break;}
+
+	case 7: {angle = _servo_max_angle_8.get(); break;}
+
+	default: {angle = NAN; break;}
+	}
+
+	if (!PX4_ISFINITE(angle)) {
+		PX4_ERR("max_angle: index out of range, i= %ld, expected i < 8", index);
+		return NAN;
+	}
+
+	return math::radians(angle);
+}
+
+float
+GZMixingInterfaceServo::get_servo_angle_min(const size_t index)
+{
+	float angle;
+
+	switch (index) {
+	case 0: {angle = _servo_min_angle_1.get(); break;}
+
+	case 1: {angle = _servo_min_angle_2.get(); break;}
+
+	case 2: {angle = _servo_min_angle_3.get(); break;}
+
+	case 3: {angle = _servo_min_angle_4.get(); break;}
+
+	case 4: {angle = _servo_min_angle_5.get(); break;}
+
+	case 5: {angle = _servo_min_angle_6.get(); break;}
+
+	case 6: {angle = _servo_min_angle_7.get(); break;}
+
+	case 7: {angle = _servo_min_angle_8.get(); break;}
+
+	default: {angle = NAN; break;}
+
+	}
+
+	if (!PX4_ISFINITE(angle)) {
+		PX4_ERR("min_angle: index out of range, i= %ld, expected i < 8", index);
+		return NAN;
+	}
+
+	return math::radians(angle);
+}
+
 bool GZMixingInterfaceServo::init(const std::string &model_name)
 {
 	// /model/rascal_110_0/servo_2
@@ -46,6 +114,11 @@ bool GZMixingInterfaceServo::init(const std::string &model_name)
 			PX4_ERR("failed to advertise %s", servo_topic.c_str());
 			return false;
 		}
+
+		double min_val = get_servo_angle_min(i);
+		double max_val = get_servo_angle_max(i);
+		_angle_min_rad.push_back(min_val);
+		_angular_range_rad.push_back(max_val - min_val);
 	}
 
 	ScheduleNow();
@@ -64,8 +137,9 @@ bool GZMixingInterfaceServo::updateOutputs(bool stop_motors, uint16_t outputs[MA
 	for (auto &servo_pub : _servos_pub) {
 		if (_mixing_output.isFunctionSet(i)) {
 			gz::msgs::Double servo_output;
-			///TODO: Normalize output data
-			double output = (outputs[i] - 500) / 500.0;
+
+			double output_range = _mixing_output.maxValue(i) - _mixing_output.minValue(i);
+			double output = _angle_min_rad[i] + _angular_range_rad[i] * (outputs[i] - _mixing_output.minValue(i)) / output_range;
 			// std::cout << "outputs[" << i << "]: " << outputs[i] << std::endl;
 			// std::cout << "  output: " << output << std::endl;
 			servo_output.set_data(output);
diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.hpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.hpp
index 63345b3aed..180f6cbca2 100644
--- a/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.hpp
+++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceServo.hpp
@@ -36,6 +36,7 @@
 #include <lib/mixer_module/mixer_module.hpp>
 
 #include <gz/transport.hh>
+#include <px4_platform_common/module_params.h>
 
 // GZBridge mixing class for Servos.
 // It is separate from GZBridge to have separate WorkItems and therefore allowing independent scheduling
@@ -67,10 +68,45 @@ private:
 
 	void Run() override;
 
+	/**
+	 * @brief Get maximum configured angle of servo.
+	 * @param index: servo index
+	 * @return angle_max [rad]
+	 */
+	float get_servo_angle_max(const size_t index);
+
+	/**
+	 * @brief Get minimum configured angle of servo.
+	 * @param index: servo index
+	 * @return angle_min [rad]
+	 */
+	float get_servo_angle_min(const size_t index);
+
 	gz::transport::Node &_node;
 	pthread_mutex_t &_node_mutex;
 
 	MixingOutput _mixing_output{"SIM_GZ_SV", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 
 	std::vector<gz::transport::Node::Publisher> _servos_pub;
+	std::vector<double> _angle_min_rad;
+	std::vector<double> _angular_range_rad;
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::SIM_GZ_SV_MAXA1>) _servo_max_angle_1,
+		(ParamFloat<px4::params::SIM_GZ_SV_MINA1>) _servo_min_angle_1,
+		(ParamFloat<px4::params::SIM_GZ_SV_MAXA2>) _servo_max_angle_2,
+		(ParamFloat<px4::params::SIM_GZ_SV_MINA2>) _servo_min_angle_2,
+		(ParamFloat<px4::params::SIM_GZ_SV_MAXA3>) _servo_max_angle_3,
+		(ParamFloat<px4::params::SIM_GZ_SV_MINA3>) _servo_min_angle_3,
+		(ParamFloat<px4::params::SIM_GZ_SV_MAXA4>) _servo_max_angle_4,
+		(ParamFloat<px4::params::SIM_GZ_SV_MINA4>) _servo_min_angle_4,
+		(ParamFloat<px4::params::SIM_GZ_SV_MAXA5>) _servo_max_angle_5,
+		(ParamFloat<px4::params::SIM_GZ_SV_MINA5>) _servo_min_angle_5,
+		(ParamFloat<px4::params::SIM_GZ_SV_MAXA6>) _servo_max_angle_6,
+		(ParamFloat<px4::params::SIM_GZ_SV_MINA6>) _servo_min_angle_6,
+		(ParamFloat<px4::params::SIM_GZ_SV_MAXA7>) _servo_max_angle_7,
+		(ParamFloat<px4::params::SIM_GZ_SV_MINA7>) _servo_min_angle_7,
+		(ParamFloat<px4::params::SIM_GZ_SV_MAXA8>) _servo_max_angle_8,
+		(ParamFloat<px4::params::SIM_GZ_SV_MINA8>) _servo_min_angle_8
+	)
 };
diff --git a/src/modules/simulation/gz_bridge/module.yaml b/src/modules/simulation/gz_bridge/module.yaml
index 1b38e13d98..e41aedb1e3 100644
--- a/src/modules/simulation/gz_bridge/module.yaml
+++ b/src/modules/simulation/gz_bridge/module.yaml
@@ -1,3 +1,6 @@
+__max_num_servos: &max_num_servos 8
+__max_num_tilts: &max_num_tilts 4
+
 module_name: SIM_GZ
 actuator_output:
   show_subgroups_if: 'SIM_GZ_EN>=1'
@@ -15,7 +18,7 @@ actuator_output:
         min: { min: 0, max: 1000, default: 0 }
         max: { min: 0, max: 1000, default: 1000 }
         failsafe: { min: 0, max: 1000 }
-      num_channels: 8
+      num_channels: *max_num_servos
     - param_prefix: SIM_GZ_SV
       group_label: 'Servos'
       channel_label: 'Servo'
@@ -24,7 +27,7 @@ actuator_output:
         min: { min: 0, max: 1000, default: 0 }
         max: { min: 0, max: 1000, default: 1000 }
         failsafe: { min: 0, max: 1000 }
-      num_channels: 8
+      num_channels: *max_num_servos
     - param_prefix: SIM_GZ_WH
       group_label: 'Wheels'
       channel_label: 'Wheels'
@@ -34,3 +37,35 @@ actuator_output:
         max: { min: 0, max: 200, default: 200 }
         failsafe: { min: 0, max: 200 }
       num_channels: 4
+
+parameters:
+    - group: Geometry
+      definitions:
+        SIM_GZ_SV_MAXA${i}:
+            description:
+                short: Servo ${i} Angle at Maximum
+                long: |
+                  Defines the angle when the servo is at the maximum.
+                  Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MAXA.
+            type: float
+            decimal: 0
+            unit: 'deg'
+            num_instances: *max_num_servos
+            instance_start: 1
+            min: -180.0
+            max: 180.0
+            default: 45.0
+        SIM_GZ_SV_MINA${i}:
+            description:
+                short: Servo ${i} Angle at Minimum
+                long: |
+                  Defines the angle when the servo is at the minimum.
+                  Currently only supported in gz simulation and must be coherent with .sdf file and CA_SV_TL{n}_MINA.
+            type: float
+            decimal: 0
+            unit: 'deg'
+            num_instances: *max_num_servos
+            instance_start: 1
+            min: -180.0
+            max: 180.0
+            default: -45.0