diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 69d1b2d23e..2d4a676f07 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -43,6 +43,17 @@ void Plane::throttle_slew_limit(SRV_Channel::Aux_servo_function_t func)
             slewrate = landing.get_throttle_slewrate();
         }
     }
+    if (g.takeoff_throttle_slewrate != 0 &&
+        (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF ||
+         flight_stage == AP_Vehicle::FixedWing::FLIGHT_VTOL)) {
+        // for VTOL we use takeoff slewrate, which helps with transition
+        slewrate = g.takeoff_throttle_slewrate;
+    }
+#if HAL_QUADPLANE_ENABLED
+    if (g.takeoff_throttle_slewrate != 0 && quadplane.in_transition()) {
+        slewrate = g.takeoff_throttle_slewrate;
+    }
+#endif
     // if slew limit rate is set to zero then do not slew limit
     if (slewrate) {                   
         SRV_Channels::limit_slew_rate(func, slewrate, G_Dt);