diff --git a/libraries/Filter/SlewLimiter.cpp b/libraries/Filter/SlewLimiter.cpp
new file mode 100644
index 0000000000..ed707676dc
--- /dev/null
+++ b/libraries/Filter/SlewLimiter.cpp
@@ -0,0 +1,62 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+/*
+  The SlewLimiter filter provides an actuator slew rate limiter for
+  PID controllers. It is used to reduce the P and D gains when the
+  filter detects that the P+D components are pushing the actuator
+  beyond the configured actuator rate limit. This can prevent
+  oscillations that are caused by the output actuation rate going
+  beyond the actuator maximum physical rate, which causes the
+  actuation demand and achieved rate to get out of phase.
+
+  this filter was originally written by Paul Riseborough for fixed
+  wing use. It was adapted for wider use in AC_PID by Andrew Tridgell
+ */
+#include "SlewLimiter.h"
+
+SlewLimiter::SlewLimiter(const float &_slew_rate_max, const float &_slew_rate_tau) :
+    slew_rate_max(_slew_rate_max),
+    slew_rate_tau(_slew_rate_tau)
+{
+    slew_filter.set_cutoff_frequency(10.0);
+    slew_filter.reset(0.0);
+}
+
+/*
+  apply filter to sample, returning multiplier between 0 and 1 to keep
+  output within slew rate
+ */
+float SlewLimiter::modifier(float sample, float dt)
+{
+    if (slew_rate_max <= 0) {
+        return 1.0;
+    }
+
+    // Calculate the slew rate amplitude produced by the unmodified sample
+    // calculate a low pass filtered slew rate
+    float Pterm_slew_rate = slew_filter.apply((fabsf(sample - last_sample)/ dt), dt);
+
+    // rectify and apply a decaying envelope filter. The 10 in the
+    // constrain limits the modifier to be between 0.1 and 1.0, so we
+    // never drop PID gains below 10% of configured value
+    float alpha = 1.0 - constrain_float(dt/slew_rate_tau, 0.0, 1.0);
+    slew_amplitude = constrain_float(Pterm_slew_rate, alpha * slew_amplitude, 10 * slew_rate_max);
+
+    // Calculate the gain adjustment
+    float mod = slew_rate_max / fmaxf(slew_amplitude, slew_rate_max);
+    last_sample = mod * sample;
+
+    return mod;
+}
diff --git a/libraries/Filter/SlewLimiter.h b/libraries/Filter/SlewLimiter.h
new file mode 100644
index 0000000000..73f1347fc6
--- /dev/null
+++ b/libraries/Filter/SlewLimiter.h
@@ -0,0 +1,27 @@
+#pragma once
+
+/* slew rate limiting filter. This is used to prevent oscillation of a
+ * controller by modifying the controllers output based on a maximum
+ * slew rate
+*/
+
+#include <stdint.h>
+#include "LowPassFilter.h"
+
+class SlewLimiter {
+public:
+    SlewLimiter(const float &slew_rate_max, const float &slew_rate_tau);
+
+    /*
+      apply filter to sample, returning multiplier between 0 and 1 to keep
+      output within slew rate
+    */
+    float modifier(float sample, float dt);
+
+private:
+    const float &slew_rate_max;
+    const float &slew_rate_tau;
+    LowPassFilterFloat slew_filter;
+    float slew_amplitude;
+    float last_sample;
+};