diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
index f556817ea9..3da5ba0f18 100644
--- a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
+++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp
@@ -109,9 +109,10 @@ void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuato
 	pthread_mutex_lock(&_node_mutex);
 
 	esc_status_s esc_status{};
-	esc_status.esc_count = actuators.velocity_size();
+	// Limit to max supported ESCs while allowing for a larger number of system actuators
+	esc_status.esc_count = math::min(actuators.velocity_size(), static_cast<int>(esc_status_s::CONNECTED_ESC_MAX));
 
-	for (int i = 0; i < actuators.velocity_size(); i++) {
+	for (int i = 0; i < esc_status.esc_count; i++) {
 		esc_status.esc[i].timestamp = hrt_absolute_time();
 		esc_status.esc[i].esc_rpm = actuators.velocity(i);
 		esc_status.esc_online_flags |= 1 << i;
diff --git a/src/modules/simulation/gz_bridge/module.yaml b/src/modules/simulation/gz_bridge/module.yaml
index e41aedb1e3..e6cd8d65b0 100644
--- a/src/modules/simulation/gz_bridge/module.yaml
+++ b/src/modules/simulation/gz_bridge/module.yaml
@@ -1,3 +1,4 @@
+__max_num_motors: &max_num_motors 12
 __max_num_servos: &max_num_servos 8
 __max_num_tilts: &max_num_tilts 4
 
@@ -18,7 +19,7 @@ actuator_output:
         min: { min: 0, max: 1000, default: 0 }
         max: { min: 0, max: 1000, default: 1000 }
         failsafe: { min: 0, max: 1000 }
-      num_channels: *max_num_servos
+      num_channels: *max_num_motors
     - param_prefix: SIM_GZ_SV
       group_label: 'Servos'
       channel_label: 'Servo'