diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index 961bcfed09..4a6478c1fb 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -93,6 +93,10 @@ AC_PID::AC_PID(float initial_p, float initial_i, float initial_d, float initial_
     _flags._reset_filter = true;
 
     memset(&_pid_info, 0, sizeof(_pid_info));
+
+    // slew limit scaler allows for plane to use degrees/sec slew
+    // limit
+    _slew_limit_scale = 1;
 }
 
 // set_dt - set time step in seconds
@@ -156,7 +160,7 @@ float AC_PID::update_all(float target, float measurement, bool limit)
     float D_out = (_derivative * _kd);
 
     // calculate slew limit modifier for P+D
-    _pid_info.Dmod = _slew_limiter.modifier(_pid_info.P + _pid_info.D, _dt);
+    _pid_info.Dmod = _slew_limiter.modifier((_pid_info.P + _pid_info.D) * _slew_limit_scale, _dt);
 
     P_out *= _pid_info.Dmod;
     D_out *= _pid_info.Dmod;
@@ -208,7 +212,7 @@ float AC_PID::update_error(float error, bool limit)
     float D_out = (_derivative * _kd);
 
     // calculate slew limit modifier for P+D
-    _pid_info.Dmod = _slew_limiter.modifier(_pid_info.P + _pid_info.D, _dt);
+    _pid_info.Dmod = _slew_limiter.modifier((_pid_info.P + _pid_info.D) * _slew_limit_scale, _dt);
 
     P_out *= _pid_info.Dmod;
     D_out *= _pid_info.Dmod;
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index e556ce544d..2f0e0c892f 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -107,6 +107,9 @@ public:
     void set_integrator(float error, float i);
     void set_integrator(float i);
 
+    // set slew limiter scale factor
+    void set_slew_limit_scale(int8_t scale) { _slew_limit_scale = scale; }
+
     const AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; }
 
     // parameter var table
@@ -144,6 +147,7 @@ protected:
     float _target;            // target value to enable filtering
     float _error;             // error value to enable filtering
     float _derivative;        // derivative value to enable filtering
+    int8_t _slew_limit_scale;
     uint16_t _reset_counter;  // loop counter for reset decay
     uint64_t _reset_last_update; //time in microseconds of last update to reset_I