diff --git a/src/main/common/filter.c b/src/main/common/filter.c
index 2351e4ad9..35bc54a79 100644
--- a/src/main/common/filter.c
+++ b/src/main/common/filter.c
@@ -67,6 +67,32 @@ float pt1FilterApply4(pt1Filter_t *filter, float input, uint8_t f_cut, float dT)
     return filter->state;
 }
 
+// Slew filter with limit
+
+void slewFilterInit(slewFilter_t *filter, float slewLimit, float threshold)
+{
+    filter->state = 0.0f;
+    filter->slewLimit = slewLimit;
+    filter->threshold = threshold;
+}
+
+float slewFilterApply(slewFilter_t *filter, float input)
+{
+    if (filter->state >= filter->threshold) {
+        if (input >= filter->state - filter->slewLimit) {
+            filter->state = input;
+        }
+    } else if (filter->state <= -filter->threshold) {
+        if (input <= filter->state + filter->slewLimit) {
+            filter->state = input;
+        }
+    } else {
+        filter->state = input;
+    }
+    return filter->state;
+}
+
+
 float filterGetNotchQ(uint16_t centerFreq, uint16_t cutoff) {
     float octaves = log2f((float) centerFreq  / (float) cutoff) * 2;
     return sqrtf(powf(2, octaves)) / (powf(2, octaves) - 1);
diff --git a/src/main/common/filter.h b/src/main/common/filter.h
index 4033469e7..730298cdb 100644
--- a/src/main/common/filter.h
+++ b/src/main/common/filter.h
@@ -32,6 +32,12 @@ typedef struct pt1Filter_s {
     float dT;
 } pt1Filter_t;
 
+typedef struct slewFilter_s {
+    float state;
+    float slewLimit;
+    float threshold;
+} slewFilter_t;
+
 /* this holds the data required to update samples thru a filter */
 typedef struct biquadFilter_s {
     float b0, b1, b2, a1, a2;
@@ -49,7 +55,8 @@ typedef struct firFilterDenoise_s{
 typedef enum {
     FILTER_PT1 = 0,
     FILTER_BIQUAD,
-    FILTER_FIR
+    FILTER_FIR,
+    FILTER_SLEW
 } filterType_e;
 
 typedef enum {
@@ -86,6 +93,9 @@ void pt1FilterInit(pt1Filter_t *filter, uint8_t f_cut, float dT);
 float pt1FilterApply(pt1Filter_t *filter, float input);
 float pt1FilterApply4(pt1Filter_t *filter, float input, uint8_t f_cut, float dT);
 
+void slewFilterInit(slewFilter_t *filter, float slewLimit, float threshold);
+float slewFilterApply(slewFilter_t *filter, float input);
+
 void firFilterInit(firFilter_t *filter, float *buf, uint8_t bufLength, const float *coeffs);
 void firFilterInit2(firFilter_t *filter, float *buf, uint8_t bufLength, const float *coeffs, uint8_t coeffsLength);
 void firFilterUpdate(firFilter_t *filter, float input);
diff --git a/src/test/unit/common_filter_unittest.cc b/src/test/unit/common_filter_unittest.cc
index 88d0c40ef..bdba86134 100644
--- a/src/test/unit/common_filter_unittest.cc
+++ b/src/test/unit/common_filter_unittest.cc
@@ -145,3 +145,56 @@ TEST(FilterUnittest, TestFirFilterApply)
     expected = 7.0f * 26.0f + 6.0 * 27.0 + 5.0 * 28.0 + 4.0f * 29.0f;
     EXPECT_FLOAT_EQ(expected, firFilterApply(&filter));
 }
+
+TEST(FilterUnittest, TestSlewFilterInit)
+{
+    slewFilter_t filter;
+
+    slewFilterInit(&filter, 0.0f, 0.0f);
+    EXPECT_EQ(0, filter.state);
+    EXPECT_EQ(0, filter.slewLimit);
+    EXPECT_EQ(0, filter.threshold);
+
+    slewFilterInit(&filter, 1800.0f, 1900.0f);
+    EXPECT_EQ(0, filter.state);
+    EXPECT_EQ(1800, filter.slewLimit);
+    EXPECT_EQ(1900, filter.threshold);
+}
+
+TEST(FilterUnittest, TestSlewFilter)
+{
+    slewFilter_t filter;
+    slewFilterInit(&filter, 2000.0f, 1900.0f);
+    EXPECT_EQ(0, filter.state);
+    EXPECT_EQ(2000, filter.slewLimit);
+    EXPECT_EQ(1900, filter.threshold);
+
+    slewFilterApply(&filter, 1800.0f);
+    EXPECT_EQ(1800, filter.state);
+    slewFilterApply(&filter, -1800.0f);
+    EXPECT_EQ(-1800, filter.state);
+    slewFilterApply(&filter, -200.0f);
+    EXPECT_EQ(-200, filter.state);
+
+    slewFilterApply(&filter, 1900.0f);
+    EXPECT_EQ(1900, filter.state);
+    slewFilterApply(&filter, -2000.0f);
+    EXPECT_EQ(1900, filter.state);
+    slewFilterApply(&filter, -200.0f);
+    EXPECT_EQ(1900, filter.state);
+    slewFilterApply(&filter, 1800.0f);
+    EXPECT_EQ(1800, filter.state);
+    slewFilterApply(&filter, -200.0f);
+    EXPECT_EQ(-200, filter.state);
+
+    slewFilterApply(&filter, -1900.0f);
+    EXPECT_EQ(-1900, filter.state);
+    slewFilterApply(&filter, 2000.0f);
+    EXPECT_EQ(-1900, filter.state);
+    slewFilterApply(&filter, 200.0f);
+    EXPECT_EQ(-1900, filter.state);
+    slewFilterApply(&filter, -1800.0f);
+    EXPECT_EQ(-1800, filter.state);
+    slewFilterApply(&filter, 200.0f);
+    EXPECT_EQ(200, filter.state);
+}