diff --git a/ROMFS/px4fmu_common/init.d/rc.interface b/ROMFS/px4fmu_common/init.d/rc.interface
index 210c9e363b..6c8f065c7e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.interface
+++ b/ROMFS/px4fmu_common/init.d/rc.interface
@@ -262,6 +262,30 @@ then
 		pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_AUX_DEV}
 		pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_AUX_DEV}
 
+		#
+		# Per channel min settings.
+		#
+		pwm min -c 1 -p p:PWM_AUX_MIN1 -d ${OUTPUT_AUX_DEV}
+		pwm min -c 2 -p p:PWM_AUX_MIN2 -d ${OUTPUT_AUX_DEV}
+		pwm min -c 3 -p p:PWM_AUX_MIN3 -d ${OUTPUT_AUX_DEV}
+		pwm min -c 4 -p p:PWM_AUX_MIN4 -d ${OUTPUT_AUX_DEV}
+		pwm min -c 5 -p p:PWM_AUX_MIN5 -d ${OUTPUT_AUX_DEV}
+		pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_AUX_DEV}
+		pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_AUX_DEV}
+		pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_AUX_DEV}
+
+		#
+		# Per channel max settings.
+		#
+		pwm max -c 1 -p p:PWM_AUX_MAX1 -d ${OUTPUT_AUX_DEV}
+		pwm max -c 2 -p p:PWM_AUX_MAX2 -d ${OUTPUT_AUX_DEV}
+		pwm max -c 3 -p p:PWM_AUX_MAX3 -d ${OUTPUT_AUX_DEV}
+		pwm max -c 4 -p p:PWM_AUX_MAX4 -d ${OUTPUT_AUX_DEV}
+		pwm max -c 5 -p p:PWM_AUX_MAX5 -d ${OUTPUT_AUX_DEV}
+		pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_AUX_DEV}
+		pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_AUX_DEV}
+		pwm max -c 8 -p p:PWM_AUX_MAX8 -d ${OUTPUT_AUX_DEV}
+
 		if [ $FAILSAFE_AUX != none ]
 		then
 			pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
@@ -318,6 +342,30 @@ then
 	pwm disarmed -c 7 -p p:PWM_MAIN_DIS7
 	pwm disarmed -c 8 -p p:PWM_MAIN_DIS8
 
+	#
+	# Per channel min settings.
+	#
+	pwm min -c 1 -p p:PWM_MAIN_MIN1
+	pwm min -c 2 -p p:PWM_MAIN_MIN2
+	pwm min -c 3 -p p:PWM_MAIN_MIN3
+	pwm min -c 4 -p p:PWM_MAIN_MIN4
+	pwm min -c 5 -p p:PWM_MAIN_MIN5
+	pwm min -c 6 -p p:PWM_MAIN_MIN6
+	pwm min -c 7 -p p:PWM_MAIN_MIN7
+	pwm min -c 8 -p p:PWM_MAIN_MIN8
+
+	#
+	# Per channel max settings.
+	#
+	pwm max -c 1 -p p:PWM_MAIN_MAX1
+	pwm max -c 2 -p p:PWM_MAIN_MAX2
+	pwm max -c 3 -p p:PWM_MAIN_MAX3
+	pwm max -c 4 -p p:PWM_MAIN_MAX4
+	pwm max -c 5 -p p:PWM_MAIN_MAX5
+	pwm max -c 6 -p p:PWM_MAIN_MAX6
+	pwm max -c 7 -p p:PWM_MAIN_MAX7
+	pwm max -c 8 -p p:PWM_MAIN_MAX8
+
 	if [ $FAILSAFE != none ]
 	then
 		pwm failsafe -c ${PWM_OUT} -p ${FAILSAFE} -d ${OUTPUT_DEV}
diff --git a/src/modules/sensors/pwm_params_aux.c b/src/modules/sensors/pwm_params_aux.c
index 63b087e9c4..ce859401f1 100644
--- a/src/modules/sensors/pwm_params_aux.c
+++ b/src/modules/sensors/pwm_params_aux.c
@@ -101,6 +101,252 @@ PARAM_DEFINE_INT32(PWM_AUX_MAX, 2000);
  */
 PARAM_DEFINE_INT32(PWM_AUX_DISARMED, 1500);
 
+/******************************************************************************
+*                                 PWM_AUX_MIN                                *
+******************************************************************************/
+/**
+ * Set the min PWM value for the auxiliary 1 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MIN1, -1);
+
+/**
+ * Set the min PWM value for the auxiliary 2 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MIN2, -1);
+
+/**
+ * Set the min PWM value for the auxiliary 3 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MIN3, -1);
+
+/**
+ * Set the min PWM value for the auxiliary 4 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MIN4, -1);
+
+/**
+ * Set the min PWM value for the auxiliary 5 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MIN5, -1);
+
+/**
+ * Set the min PWM value for the auxiliary 6 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MIN6, -1);
+
+/**
+ * Set the min PWM value for the auxiliary 7 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MIN7, -1);
+
+/**
+ * Set the min PWM value for the auxiliary 8 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MIN8, -1);
+
+/******************************************************************************
+*                                 PWM_AUX_MAX                                *
+******************************************************************************/
+/**
+ * Set the max PWM value for the auxiliary 1 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MAX1, -1);
+
+/**
+ * Set the max PWM value for the auxiliary 2 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MAX2, -1);
+
+/**
+ * Set the max PWM value for the auxiliary 3 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MAX3, -1);
+
+/**
+ * Set the max PWM value for the auxiliary 4 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MAX4, -1);
+
+/**
+ * Set the max PWM value for the auxiliary 5 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MAX5, -1);
+
+/**
+ * Set the max PWM value for the auxiliary 6 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MAX6, -1);
+
+/**
+ * Set the max PWM value for the auxiliary 7 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MAX7, -1);
+
+/**
+ * Set the max PWM value for the auxiliary 8 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_AUX_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_AUX_MAX8, -1);
+
 /******************************************************************************
 *                                 PWM_AUX_FAIL                                *
 ******************************************************************************/
diff --git a/src/modules/sensors/pwm_params_main.c b/src/modules/sensors/pwm_params_main.c
index d7e9a70df2..bf8ddffd5a 100644
--- a/src/modules/sensors/pwm_params_main.c
+++ b/src/modules/sensors/pwm_params_main.c
@@ -101,6 +101,252 @@ PARAM_DEFINE_INT32(PWM_MAX, 2000);
  */
 PARAM_DEFINE_INT32(PWM_DISARMED, 900);
 
+/******************************************************************************
+*                                 PWM_MAIN_MIN                                *
+******************************************************************************/
+/**
+ * Set the min PWM value for the main 1 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MIN1, -1);
+
+/**
+ * Set the min PWM value for the main 2 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MIN2, -1);
+
+/**
+ * Set the min PWM value for the main 3 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MIN3, -1);
+
+/**
+ * Set the min PWM value for the main 4 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MIN4, -1);
+
+/**
+ * Set the min PWM value for the main 5 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MIN5, -1);
+
+/**
+ * Set the min PWM value for the main 6 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MIN6, -1);
+
+/**
+ * Set the min PWM value for the main 7 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MIN7, -1);
+
+/**
+ * Set the min PWM value for the main 8 output
+ *
+ * This is the minimum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MIN will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MIN8, -1);
+
+/******************************************************************************
+*                                 PWM_MAIN_MAX                                *
+******************************************************************************/
+/**
+ * Set the max PWM value for the main 1 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MAX1, -1);
+
+/**
+ * Set the max PWM value for the main 2 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MAX2, -1);
+
+/**
+ * Set the max PWM value for the main 3 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MAX3, -1);
+
+/**
+ * Set the max PWM value for the main 4 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MAX4, -1);
+
+/**
+ * Set the max PWM value for the main 5 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MAX5, -1);
+
+/**
+ * Set the max PWM value for the main 6 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MAX6, -1);
+
+/**
+ * Set the max PWM value for the main 7 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MAX7, -1);
+
+/**
+ * Set the max PWM value for the main 8 output
+ *
+ * This is the maximum PWM pulse the autopilot is allowed to output.
+ * When set to -1 the value for PWM_MAX will be used
+ *
+ * @reboot_required true
+ *
+ * @min -1
+ * @max 2200
+ * @unit us
+ * @group PWM Outputs
+ */
+PARAM_DEFINE_INT32(PWM_MAIN_MAX8, -1);
+
 /******************************************************************************
 *                                PWM_MAIN_FAIL                                *
 ******************************************************************************/
diff --git a/src/systemcmds/pwm/pwm.cpp b/src/systemcmds/pwm/pwm.cpp
index 524ba24c04..2cdf317dd0 100644
--- a/src/systemcmds/pwm/pwm.cpp
+++ b/src/systemcmds/pwm/pwm.cpp
@@ -439,6 +439,10 @@ pwm_main(int argc, char *argv[])
 			return 1;
 		}
 
+		if (pwm_value < 0) {
+			return 0;
+		}
+
 		if (pwm_value == 0) {
 			usage("min: no PWM value provided");
 			return 1;
@@ -491,6 +495,10 @@ pwm_main(int argc, char *argv[])
 			return 1;
 		}
 
+		if (pwm_value < 0) {
+			return 0;
+		}
+
 		if (pwm_value == 0) {
 			usage("no PWM value provided");
 			return 1;