diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h
index a3786a94bc..6d739596c9 100644
--- a/libraries/SRV_Channel/SRV_Channel.h
+++ b/libraries/SRV_Channel/SRV_Channel.h
@@ -203,6 +203,8 @@ private:
 */
 class SRV_Channels {
 public:
+    friend class SRV_Channel;
+    
     // constructor
     SRV_Channels(void);
 
@@ -232,7 +234,7 @@ public:
     static float get_output_norm(SRV_Channel::Aux_servo_function_t function);
 
     // limit slew rate to given limit in percent per second
-    static void limit_slew_rate(SRV_Channel::Aux_servo_function_t function, float slew_rate);
+    static void limit_slew_rate(SRV_Channel::Aux_servo_function_t function, float slew_rate, float dt);
 
     // call output_ch() on all channels
     static void output_ch_all(void);
diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp
index 2bf4ddff05..697b808639 100644
--- a/libraries/SRV_Channel/SRV_Channel_aux.cpp
+++ b/libraries/SRV_Channel/SRV_Channel_aux.cpp
@@ -542,11 +542,27 @@ float SRV_Channels::get_output_norm(SRV_Channel::Aux_servo_function_t function)
 }
 
 /*
-  limit slew rate for an output function to given rate in percent per second
+  limit slew rate for an output function to given rate in percent per
+  second. This assumes output has not yet done to the hal
  */
-void SRV_Channels::limit_slew_rate(SRV_Channel::Aux_servo_function_t function, float slew_rate)
+void SRV_Channels::limit_slew_rate(SRV_Channel::Aux_servo_function_t function, float slew_rate, float dt)
 {
-    // NOT IMPLEMENTED YET
+    for (uint8_t i=0; i<NUM_SERVO_CHANNELS; i++) {
+        SRV_Channel &ch = channels[i];
+        if (ch.function == function) {
+            ch.calc_pwm(functions[function].output_scaled);
+            uint16_t last_pwm = hal.rcout->read(ch.ch_num);
+            if (last_pwm == ch.output_pwm) {
+                continue;
+            }
+            uint16_t max_change = (ch.get_output_max() - ch.get_output_min()) * slew_rate * dt * 0.01f;
+            if (max_change == 0) {
+                // always allow some change
+                max_change = 1;
+            }
+            ch.output_pwm = constrain_int16(ch.output_pwm, last_pwm-max_change, last_pwm+max_change);
+        }
+    }
 }
 
 // call set_angle() on matching channels