diff --git a/libraries/APM_Control/AR_AttitudeControl.cpp b/libraries/APM_Control/AR_AttitudeControl.cpp
index f8ed4a3ce5..e9f844ba4b 100644
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@@ -63,6 +63,8 @@
 
 extern const AP_HAL::HAL& hal;
 
+AR_AttitudeControl *AR_AttitudeControl::_singleton;
+
 const AP_Param::GroupInfo AR_AttitudeControl::var_info[] = {
 
     // @Param: _STR_RAT_P
@@ -471,7 +473,8 @@ AR_AttitudeControl::AR_AttitudeControl() :
     _throttle_speed_pid(AR_ATTCONTROL_THR_SPEED_P, AR_ATTCONTROL_THR_SPEED_I, AR_ATTCONTROL_THR_SPEED_D, 0.0f, AR_ATTCONTROL_THR_SPEED_IMAX, 0.0f, AR_ATTCONTROL_THR_SPEED_FILT, 0.0f),
     _pitch_to_throttle_pid(AR_ATTCONTROL_PITCH_THR_P, AR_ATTCONTROL_PITCH_THR_I, AR_ATTCONTROL_PITCH_THR_D, 0.0f, AR_ATTCONTROL_PITCH_THR_IMAX, 0.0f, AR_ATTCONTROL_PITCH_THR_FILT, 0.0f),
     _sailboat_heel_pid(AR_ATTCONTROL_HEEL_SAIL_P, AR_ATTCONTROL_HEEL_SAIL_I, AR_ATTCONTROL_HEEL_SAIL_D, 0.0f, AR_ATTCONTROL_HEEL_SAIL_IMAX, 0.0f, AR_ATTCONTROL_HEEL_SAIL_FILT, 0.0f)
-    {
+{
+    _singleton = this;
     AP_Param::setup_object_defaults(this, var_info);
 }
 
@@ -862,6 +865,13 @@ float AR_AttitudeControl::get_sail_out_from_heel(float desired_heel, float dt)
     return (ff + p + i + d) * -1.0f;
 }
 
+// get the slew rate value for speed and steering for oscillation detection in lua scripts
+void AR_AttitudeControl::get_srate(float &steering_srate, float &speed_srate)
+{
+    steering_srate = get_steering_rate_pid().get_pid_info().slew_rate;
+    speed_srate = _throttle_speed_pid_info.slew_rate;
+}
+
 // get forward speed in m/s (earth-frame horizontal velocity but only along vehicle x-axis).  returns true on success
 bool AR_AttitudeControl::get_forward_speed(float &speed) const
 {
diff --git a/libraries/APM_Control/AR_AttitudeControl.h b/libraries/APM_Control/AR_AttitudeControl.h
index b3615f76c9..2a6bc583af 100644
--- a/libraries/APM_Control/AR_AttitudeControl.h
+++ b/libraries/APM_Control/AR_AttitudeControl.h
@@ -10,6 +10,11 @@ public:
     // constructor
     AR_AttitudeControl();
 
+    // do not allow copying
+    CLASS_NO_COPY(AR_AttitudeControl);
+
+    static AR_AttitudeControl *get_singleton() { return _singleton; }
+
     //
     // steering controller
     //
@@ -95,6 +100,9 @@ public:
     AC_PID& get_sailboat_heel_pid() { return _sailboat_heel_pid; }
     const AP_PIDInfo& get_throttle_speed_pid_info() const { return _throttle_speed_pid_info; }
 
+    // get the slew rate value for speed and steering for oscillation detection in lua scripts
+    void get_srate(float &steering_srate, float &speed_srate);
+
     // get forward speed in m/s (earth-frame horizontal velocity but only along vehicle x-axis).  returns true on success
     bool get_forward_speed(float &speed) const;
 
@@ -127,6 +135,8 @@ public:
 
 private:
 
+    static AR_AttitudeControl *_singleton;
+
     // parameters
     AC_P     _steer_angle_p;        // steering angle controller
     AC_PID   _steer_rate_pid;       // steering rate controller