diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index 0e9095ad1f..37b1975226 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -355,7 +355,15 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Increment: 1
     // @Units: Hz
     // @User: Standard
-	GGROUP(pidPitch2Srv,       "PITCH2SRV_", AC_PID),
+
+    // @Param: PITCH2SRV_SMAX
+    // @DisplayName: Pitch slew rate limit
+    // @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
+    // @Range: 0 200
+    // @Increment: 0.5
+    // @User: Advanced
+
+    GGROUP(pidPitch2Srv,       "PITCH2SRV_", AC_PID),
 
     // @Param: YAW2SRV_P
     // @DisplayName: Yaw axis controller P gain
@@ -416,7 +424,15 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Increment: 1
     // @Units: Hz
     // @User: Standard
-	GGROUP(pidYaw2Srv,         "YAW2SRV_", AC_PID),
+
+    // @Param: YAW2SRV_SMAX
+    // @DisplayName: Yaw slew rate limit
+    // @Description: Sets an upper limit on the slew rate produced by the combined P and D gains. If the amplitude of the control action produced by the rate feedback exceeds this value, then the D+P gain is reduced to respect the limit. This limits the amplitude of high frequency oscillations caused by an excessive gain. The limit should be set to no more than 25% of the actuators maximum slew rate to allow for load effects. Note: The gain will not be reduced to less than 10% of the nominal value. A value of zero will disable this feature.
+    // @Range: 0 200
+    // @Increment: 0.5
+    // @User: Advanced
+
+    GGROUP(pidYaw2Srv,         "YAW2SRV_", AC_PID),
 
 #ifdef ENABLE_SCRIPTING
     // @Group: SCR_