diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index e5bc099229..7b349bc216 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -281,7 +281,6 @@ private:
     // Ground speed
     // The amount current ground speed is below min ground speed.  meters per second
     float ground_speed;
-    int16_t throttle_last;
     int16_t throttle;
 
     // CH7 control
@@ -469,7 +468,7 @@ private:
     void Log_Arm_Disarm();
 
     void load_parameters(void);
-    void throttle_slew_limit(int16_t last_throttle);
+    void throttle_slew_limit(void);
     bool auto_check_trigger(void);
     bool use_pivot_steering(void);
     void calc_throttle(float target_speed);
diff --git a/APMrover2/Steering.cpp b/APMrover2/Steering.cpp
index 2c109cdf9e..b6b48d2581 100644
--- a/APMrover2/Steering.cpp
+++ b/APMrover2/Steering.cpp
@@ -3,18 +3,12 @@
 /*****************************************
     Throttle slew limit
 *****************************************/
-void Rover::throttle_slew_limit(int16_t last_throttle) {
-    // if slew limit rate is set to zero then do not slew limit
-    if (g.throttle_slewrate && last_throttle != 0) {
-        // limit throttle change by the given percentage per second
-        float temp = g.throttle_slewrate * G_Dt * 0.01f * fabsf(channel_throttle->get_radio_max() - channel_throttle->get_radio_min());
-        // allow a minimum change of 1 PWM per cycle
-        if (temp < 1) {
-            temp = 1;
-        }
-        uint16_t pwm;
-        if (SRV_Channels::get_output_pwm(SRV_Channel::k_throttle, pwm)) {
-            SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, constrain_int16(pwm, last_throttle - temp, last_throttle + temp));
+void Rover::throttle_slew_limit(void) {
+    if (g.throttle_slewrate > 0) {
+        SRV_Channels::limit_slew_rate(SRV_Channel::k_throttle, g.throttle_slewrate, G_Dt);
+        if (g.skid_steer_out) {
+            // when skid steering also limit 2nd channel
+            SRV_Channels::limit_slew_rate(SRV_Channel::k_steering, g.throttle_slewrate, G_Dt);
         }
     }
 }
@@ -284,8 +278,6 @@ void Rover::mix_skid_steering(void)
     Set the flight control servos based on the current calculated values
 *****************************************/
 void Rover::set_servos(void) {
-    static uint16_t last_throttle;
-
     if (control_mode == MANUAL || control_mode == LEARNING) {
         // do a direct pass through of radio values
         SRV_Channels::set_output_pwm(SRV_Channel::k_steering, channel_steer->read());
@@ -325,13 +317,12 @@ void Rover::set_servos(void) {
                 SRV_Channels::set_output_scaled(SRV_Channel::k_steering, 0);
             }
         }
-
-        // limit throttle movement speed
-        throttle_slew_limit(last_throttle);
     }
 
-    // record last throttle before we apply skid steering
-    SRV_Channels::get_output_pwm(SRV_Channel::k_throttle, last_throttle);
+    if (control_mode != MANUAL && control_mode != LEARNING) {
+        // limit throttle movement speed
+        throttle_slew_limit();
+    }
 
     if (have_skid_steering()) {
         mix_skid_steering();
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index ebfe31315a..e13c5fa4d7 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -293,7 +293,6 @@ void Rover::set_mode(enum mode mode)
     }
 
     control_mode = mode;
-    throttle_last = 0;
     throttle = 500;
     if (!in_auto_reverse) {
         set_reverse(false);