diff --git a/UAV-ControlSystem/inc/utilities.h b/UAV-ControlSystem/inc/utilities.h
index 26fdf58..446ddea 100644
--- a/UAV-ControlSystem/inc/utilities.h
+++ b/UAV-ControlSystem/inc/utilities.h
@@ -83,6 +83,6 @@ void Error_Handler(void);
 
 uint8_t reverse(uint8_t byte);
 
-uint16_t constrain(uint16_t value, uint16_t min, uint16_t max);
+int16_t constrain(int16_t value, int16_t min, int16_t max);
 
 #endif /* UTILITIES_H_ */
diff --git a/UAV-ControlSystem/src/utilities.c b/UAV-ControlSystem/src/utilities.c
index 2e22185..7c2192c 100644
--- a/UAV-ControlSystem/src/utilities.c
+++ b/UAV-ControlSystem/src/utilities.c
@@ -219,7 +219,7 @@ uint8_t reverse(uint8_t byte)
 	return byte;
 }
 
-uint16_t constrain(uint16_t value, uint16_t min, uint16_t max)
+int16_t constrain(int16_t value, int16_t min, int16_t max)
 {
 	if (value < min)
 		return min;