diff --git a/libraries/AC_PID/AC_PID_2D.cpp b/libraries/AC_PID/AC_PID_2D.cpp
index 48f11f6096..a79c20678f 100644
--- a/libraries/AC_PID/AC_PID_2D.cpp
+++ b/libraries/AC_PID/AC_PID_2D.cpp
@@ -97,6 +97,10 @@ Vector2f AC_PID_2D::update_all(const Vector2f &target, const Vector2f &measureme
     // update I term
     update_i(dt, limit);
 
+    // calculate slew limit
+    _slew_calc.update(Vector2f{_pid_info_x.P + _pid_info_x.D, _pid_info_y.P + _pid_info_y.D}, dt);
+    _pid_info_x.slew_rate = _pid_info_y.slew_rate = _slew_calc.get_slew_rate();
+ 
     _pid_info_x.target = _target.x;
     _pid_info_x.actual = measurement.x;
     _pid_info_x.error = _error.x;
diff --git a/libraries/AC_PID/AC_PID_2D.h b/libraries/AC_PID/AC_PID_2D.h
index 0fd7e8a6ec..8213997df1 100644
--- a/libraries/AC_PID/AC_PID_2D.h
+++ b/libraries/AC_PID/AC_PID_2D.h
@@ -8,6 +8,7 @@
 #include <stdlib.h>
 #include <cmath>
 #include <AC_PID/AP_PIDInfo.h>
+#include <Filter/SlewCalculator2D.h>
 
 /// @class	AC_PID_2D
 /// @brief	Copter PID control class
@@ -72,6 +73,9 @@ public:
     void set_integrator(const Vector3f& i) { set_integrator(Vector2f{i.x, i.y}); }
     void set_integrator(const Vector2f& i);
 
+    // return current slew rate of slew limiter. Will return 0 if SMAX is zero
+    float get_slew_rate(void) const { return _slew_calc.get_slew_rate(); }
+
     const AP_PIDInfo& get_pid_info_x(void) const { return _pid_info_x; }
     const AP_PIDInfo& get_pid_info_y(void) const { return _pid_info_y; }
 
@@ -99,6 +103,8 @@ protected:
     AP_PIDInfo _pid_info_x;
     AP_PIDInfo _pid_info_y;
 
+    SlewCalculator2D _slew_calc;    // 2D slew rate calculator
+
 private:
     const float default_kp;
     const float default_ki;