diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 66ea188244..7937bcfd40 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -1950,7 +1950,9 @@ PX4IO::io_publish_pwm_outputs()
 	/* get mixer status flags from IO */
 	uint16_t mixer_status;
 	ret = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_MIXER, &mixer_status, sizeof(mixer_status) / sizeof(uint16_t));
-	memcpy(&motor_limits, &mixer_status, sizeof(motor_limits));
+	motor_limits.lower_limit = mixer_status & PX4IO_P_STATUS_MIXER_LOWER_LIMIT;
+	motor_limits.upper_limit = mixer_status & PX4IO_P_STATUS_MIXER_UPPER_LIMIT;
+	motor_limits.yaw = mixer_status & PX4IO_P_STATUS_MIXER_YAW_LIMIT;
 
 	if (ret != OK) {
 		return ret;