diff --git a/src/Joystick/Joystick.cc b/src/Joystick/Joystick.cc
index 36d8572..d452fab 100644
--- a/src/Joystick/Joystick.cc
+++ b/src/Joystick/Joystick.cc
@@ -431,18 +431,6 @@ 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