diff --git a/CHANGELOG b/CHANGELOG
index b8df6d3c..78285299 100644
--- a/CHANGELOG
+++ b/CHANGELOG
@@ -3,6 +3,7 @@
 * Added COMM_GET_MCCONF_TEMP command.
 * Added bidirectional current command to VESC remote.
 * Fixed motor temperature reading on hw with ADC mux.
+* Added speed PID input ramping option.
 
 === FW 5.01 ===
 * Fixed PPM bug in previous release.
diff --git a/confgenerator.c b/confgenerator.c
index 032dbd6f..7be5d02d 100644
--- a/confgenerator.c
+++ b/confgenerator.c
@@ -118,6 +118,7 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer_append_float32_auto(buffer, conf->s_pid_kd_filter, &ind);
 	buffer_append_float32_auto(buffer, conf->s_pid_min_erpm, &ind);
 	buffer[ind++] = conf->s_pid_allow_braking;
+	buffer_append_float32_auto(buffer, conf->s_pid_ramp_erpms_s, &ind);
 	buffer_append_float32_auto(buffer, conf->p_pid_kp, &ind);
 	buffer_append_float32_auto(buffer, conf->p_pid_ki, &ind);
 	buffer_append_float32_auto(buffer, conf->p_pid_kd, &ind);
@@ -410,6 +411,7 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->s_pid_kd_filter = buffer_get_float32_auto(buffer, &ind);
 	conf->s_pid_min_erpm = buffer_get_float32_auto(buffer, &ind);
 	conf->s_pid_allow_braking = buffer[ind++];
+	conf->s_pid_ramp_erpms_s = buffer_get_float32_auto(buffer, &ind);
 	conf->p_pid_kp = buffer_get_float32_auto(buffer, &ind);
 	conf->p_pid_ki = buffer_get_float32_auto(buffer, &ind);
 	conf->p_pid_kd = buffer_get_float32_auto(buffer, &ind);
@@ -698,6 +700,7 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->s_pid_kd_filter = MCCONF_S_PID_KD_FILTER;
 	conf->s_pid_min_erpm = MCCONF_S_PID_MIN_RPM;
 	conf->s_pid_allow_braking = MCCONF_S_PID_ALLOW_BRAKING;
+	conf->s_pid_ramp_erpms_s = MCCONF_S_PID_RAMP_ERPMS_S;
 	conf->p_pid_kp = MCCONF_P_PID_KP;
 	conf->p_pid_ki = MCCONF_P_PID_KI;
 	conf->p_pid_kd = MCCONF_P_PID_KD;
diff --git a/confgenerator.h b/confgenerator.h
index e832e50a..63b60541 100644
--- a/confgenerator.h
+++ b/confgenerator.h
@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		3698540221
+#define MCCONF_SIGNATURE		1775793947
 #define APPCONF_SIGNATURE		4090856534
 
 // Functions
diff --git a/datatypes.h b/datatypes.h
index 97cad74e..cc46e5e4 100644
--- a/datatypes.h
+++ b/datatypes.h
@@ -321,6 +321,7 @@ typedef struct {
 	float s_pid_kd_filter;
 	float s_pid_min_erpm;
 	bool s_pid_allow_braking;
+	float s_pid_ramp_erpms_s;
 	// Pos PID
 	float p_pid_kp;
 	float p_pid_ki;
diff --git a/mcconf/mcconf_default.h b/mcconf/mcconf_default.h
index fbd4337c..9c7acff6 100644
--- a/mcconf/mcconf_default.h
+++ b/mcconf/mcconf_default.h
@@ -136,6 +136,9 @@
 #ifndef MCCONF_S_PID_ALLOW_BRAKING
 #define MCCONF_S_PID_ALLOW_BRAKING		true	// Allow braking in speed control mode
 #endif
+#ifndef MCCONF_S_PID_RAMP_ERPMS_S
+#define MCCONF_S_PID_RAMP_ERPMS_S		-1.0	// Default Speed Input Ramp
+#endif
 
 // Position PID parameters
 #ifndef MCCONF_P_PID_KP
diff --git a/mcpwm_foc.c b/mcpwm_foc.c
index c7154bfd..b7adcdfa 100644
--- a/mcpwm_foc.c
+++ b/mcpwm_foc.c
@@ -111,6 +111,7 @@ typedef struct {
 	bool m_output_on;
 	float m_pos_pid_set;
 	float m_speed_pid_set_rpm;
+	float m_speed_command_rpm;
 	float m_phase_now_observer;
 	float m_phase_now_observer_override;
 	bool m_phase_observer_override;
@@ -798,6 +799,17 @@ void mcpwm_foc_set_duty_noramp(float dutyCycle) {
  * The electrical RPM goal value to use.
  */
 void mcpwm_foc_set_pid_speed(float rpm) {
+	if (motor_now()->m_conf->s_pid_ramp_erpms_s > 0.0 ) {
+		if (motor_now()->m_control_mode != CONTROL_MODE_SPEED ||
+				motor_now()->m_state != MC_STATE_RUNNING) {
+			motor_now()->m_speed_pid_set_rpm = mcpwm_foc_get_rpm();
+		}
+
+		motor_now()->m_speed_command_rpm = rpm;
+	} else {
+		motor_now()->m_speed_pid_set_rpm = rpm;
+	}
+
 	motor_now()->m_control_mode = CONTROL_MODE_SPEED;
 	motor_now()->m_speed_pid_set_rpm = rpm;
 
@@ -3632,6 +3644,10 @@ static void run_pid_control_speed(float dt, volatile motor_all_state_t *motor) {
 		return;
 	}
 
+	if (conf_now->s_pid_ramp_erpms_s > 0.0) {
+		utils_step_towards((float*)&motor->m_speed_pid_set_rpm, motor->m_speed_command_rpm, conf_now->s_pid_ramp_erpms_s * dt);
+	}
+
 	const float rpm = mcpwm_foc_get_rpm();
 	float error = motor->m_speed_pid_set_rpm - rpm;