diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp
index 75f4516fb2..b894e76226 100644
--- a/ArduSub/Parameters.cpp
+++ b/ArduSub/Parameters.cpp
@@ -398,6 +398,15 @@ const AP_Param::Info Sub::var_info[] = {
     // @User: Advanced
     GSCALAR(rc_speed, "RC_SPEED",              RC_SPEED_DEFAULT),
 
+    // @Param: MANUAL_SLEW_RATE
+    // @DisplayName: RC Channel Update Slew Rate
+    // @Description: This is slew rate in %/s that will be used in manual mode to avoid large step outputs on the motors. Set to zero to disable.
+    // @Units: %/s
+    // @Range: 0 500
+    // @Increment: 10
+    // @User: Advanced
+    GSCALAR(manual_slew_rate, "MANUAL_SLEW_RATE", 100),
+
     // @Param: ACRO_RP_P
     // @DisplayName: Acro Roll and Pitch P gain
     // @Description: Converts pilot roll and pitch into a desired rate of rotation in ACRO and SPORT mode.  Higher values mean faster rate of rotation.
diff --git a/ArduSub/Parameters.h b/ArduSub/Parameters.h
index 0819882cfa..bee2e61dd5 100644
--- a/ArduSub/Parameters.h
+++ b/ArduSub/Parameters.h
@@ -185,6 +185,7 @@ public:
         k_param_compass_enabled,
         k_param_surface_depth,
         k_param_rc_speed, // Main output pwm frequency
+        k_param_manual_slew_rate, // manual mode motors mixer slew rate
         k_param_gcs_pid_mask = 178,
         k_param_throttle_filt,
         k_param_throttle_deadzone, // Used in auto-throttle modes
@@ -267,6 +268,7 @@ public:
     AP_Int8         terrain_follow;
 
     AP_Int16        rc_speed; // speed of fast RC Channels in Hz
+    AP_Int16        manual_slew_rate;
 
     AP_Float        gain_default;
     AP_Float        maxGain;