diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
index 19f97a29d68c395e70e0838ee56a921fb87ac2a7..27869d09c94cc8849abee6414390c07bc5669c97 100644
--- a/src/Joystick/Joystick.cc
+++ b/src/Joystick/Joystick.cc
@@ -438,6 +438,18 @@ void Joystick::run(void)
                 throttle_accu = std::max(static_cast<float>(-1.f), std::min(throttle_accu, static_cast<float>(1.f)));
                 throttle = throttle_accu;
             }
+
+            float roll_limited = std::max(static_cast<float>(-M_PI_4), std::min(roll, static_cast<float>(M_PI_4)));
+            float pitch_limited = std::max(static_cast<float>(-M_PI_4), std::min(pitch, static_cast<float>(M_PI_4)));
+            float yaw_limited = std::max(static_cast<float>(-M_PI_4), std::min(yaw, static_cast<float>(M_PI_4)));
+            float throttle_limited = std::max(static_cast<float>(-M_PI_4), std::min(throttle, static_cast<float>(M_PI_4)));
+
+            // Map from unit circle to linear range and limit
+            roll =      std::max(-1.0f, std::min(tanf(asinf(roll_limited)), 1.0f));
+            pitch =     std::max(-1.0f, std::min(tanf(asinf(pitch_limited)), 1.0f));
+            yaw =       std::max(-1.0f, std::min(tanf(asinf(yaw_limited)), 1.0f));
+            throttle =  std::max(-1.0f, std::min(tanf(asinf(throttle_limited)), 1.0f));
+            
             if ( _exponential ) {
                 // Exponential (0% to -50% range like most RC radios)
                 // 0 for no exponential