diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index 2a53a0c408..763316da1d 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -5264,6 +5264,82 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         self.set_rc(3, 1600)
         self.wait_heading(60)
 
+    def test_slew_rate(self):
+        """Test Motor Slew Rate feature."""
+        self.context_push()
+        self.change_mode("MANUAL")
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        self.start_subtest("Test no slew behavior")
+        throttle_channel = 3
+        throttle_max = 2000
+        self.set_parameter("MOT_SLEWRATE", 0)
+        self.set_rc(throttle_channel, throttle_max)
+        tstart = self.get_sim_time()
+        self.wait_servo_channel_value(throttle_channel, throttle_max)
+        tstop = self.get_sim_time()
+        achieved_time = tstop - tstart
+        self.progress("achieved_time: %0.1fs" % achieved_time)
+        if achieved_time > 0.5:
+            raise NotAchievedException("Output response should be instant, got %f" % achieved_time)
+        self.zero_throttle()
+        self.wait_groundspeed(0, 0.5)  # why do we not stop?!
+
+        self.start_subtest("Test 100% slew rate")
+        self.set_parameter("MOT_SLEWRATE", 100)
+        self.set_rc(throttle_channel, throttle_max)
+        tstart = self.get_sim_time()
+        self.wait_servo_channel_value(throttle_channel, throttle_max)
+        tstop = self.get_sim_time()
+        achieved_time = tstop - tstart
+        self.progress("achieved_time: %0.1fs" % achieved_time)
+        if achieved_time < 0.9 or achieved_time > 1.1:
+            raise NotAchievedException("Output response should be 1s, got %f" % achieved_time)
+        self.zero_throttle()
+        self.wait_groundspeed(0, 0.5)  # why do we not stop?!
+
+        self.start_subtest("Test 50% slew rate")
+        self.set_parameter("MOT_SLEWRATE", 50)
+        self.set_rc(throttle_channel, throttle_max)
+        tstart = self.get_sim_time()
+        self.wait_servo_channel_value(throttle_channel, throttle_max, timeout=10)
+        tstop = self.get_sim_time()
+        achieved_time = tstop - tstart
+        self.progress("achieved_time: %0.1fs" % achieved_time)
+        if achieved_time < 1.8 or achieved_time > 2.2:
+            raise NotAchievedException("Output response should be 2s, got %f" % achieved_time)
+        self.zero_throttle()
+        self.wait_groundspeed(0, 0.5)  # why do we not stop?!
+
+        self.start_subtest("Test 25% slew rate")
+        self.set_parameter("MOT_SLEWRATE", 25)
+        self.set_rc(throttle_channel, throttle_max)
+        tstart = self.get_sim_time()
+        self.wait_servo_channel_value(throttle_channel, throttle_max, timeout=10)
+        tstop = self.get_sim_time()
+        achieved_time = tstop - tstart
+        self.progress("achieved_time: %0.1fs" % achieved_time)
+        if achieved_time < 3.6 or achieved_time > 4.4:
+            raise NotAchievedException("Output response should be 4s, got %f" % achieved_time)
+        self.zero_throttle()
+        self.wait_groundspeed(0, 0.5)  # why do we not stop?!
+
+        self.start_subtest("Test 10% slew rate")
+        self.set_parameter("MOT_SLEWRATE", 10)
+        self.set_rc(throttle_channel, throttle_max)
+        tstart = self.get_sim_time()
+        self.wait_servo_channel_value(throttle_channel, throttle_max, timeout=20)
+        tstop = self.get_sim_time()
+        achieved_time = tstop - tstart
+        self.progress("achieved_time: %0.1fs" % achieved_time)
+        if achieved_time < 9 or achieved_time > 11:
+            raise NotAchievedException("Output response should be 10s, got %f" % achieved_time)
+        self.zero_throttle()
+        self.wait_groundspeed(0, 0.5)  # why do we not stop?!
+        self.disarm_vehicle()
+        self.context_pop()
+
     def tests(self):
         '''return list of all tests'''
         ret = super(AutoTestRover, self).tests()
@@ -5426,6 +5502,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
              "PolyFence object avoidance tests - easier bendy ruler test",
              self.test_poly_fence_object_avoidance_bendy_ruler_easier),
 
+            ("SlewRate",
+             "Test output slew rate",
+             self.test_slew_rate),
+
             ("Scripting",
              "Scripting test",
              self.test_scripting),