diff --git a/src/main/drivers/accgyro/accgyro.h b/src/main/drivers/accgyro/accgyro.h
index eece833027..f6df5875a0 100644
--- a/src/main/drivers/accgyro/accgyro.h
+++ b/src/main/drivers/accgyro/accgyro.h
@@ -60,6 +60,7 @@ typedef struct gyroDev_s {
     int32_t gyroZero[XYZ_AXIS_COUNT];
     int32_t gyroADC[XYZ_AXIS_COUNT];                        // gyro data after calibration and alignment
     int16_t gyroADCRaw[XYZ_AXIS_COUNT];
+    int32_t gyroADCRawPrevious[XYZ_AXIS_COUNT];
     int16_t temperature;
     uint8_t lpf;
     gyroRateKHz_e gyroRateKHz;
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index 74fff590bd..8a8c89c6d1 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -19,6 +19,7 @@
 #include <stdint.h>
 #include <string.h>
 #include <math.h>
+#include <stdlib.h>
 
 #include "platform.h"
 
@@ -69,6 +70,10 @@
 #include "hardware_revision.h"
 #endif
 
+#if ((FLASH_SIZE > 128) && (defined(USE_GYRO_SPI_MPU6500) ||  defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20689)))
+#define USE_GYRO_SLEW_LIMITER
+#endif
+
 gyro_t gyro;
 static uint8_t gyroDebugMode;
 
@@ -365,6 +370,7 @@ static bool gyroInitSensor(gyroSensor_t *gyroSensor)
     if (gyroConfig()->gyro_align != ALIGN_DEFAULT) {
         gyroSensor->gyroDev.gyroAlign = gyroConfig()->gyro_align;
     }
+
     gyroInitSensorFilters(gyroSensor);
 #ifdef USE_GYRO_DATA_ANALYSE
     gyroDataAnalyseInit(gyro.targetLooptime);
@@ -437,6 +443,14 @@ static uint16_t calculateNyquistAdjustedNotchHz(uint16_t notchHz, uint16_t notch
     return notchHz;
 }
 
+#if defined(USE_GYRO_SLEW_LIMITER)
+void gyroInitSlewLimiter(gyroSensor_t *gyroSensor) {
+
+    for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++)
+    	gyroSensor->gyroDev.gyroADCRawPrevious[axis] = 0;
+}
+#endif
+
 static void gyroInitFilterNotch1(gyroSensor_t *gyroSensor, uint16_t notchHz, uint16_t notchCutoffHz)
 {
     gyroSensor->notchFilter1ApplyFn = nullFilterApply;
@@ -484,6 +498,9 @@ static void gyroInitFilterDynamicNotch(gyroSensor_t *gyroSensor)
 
 static void gyroInitSensorFilters(gyroSensor_t *gyroSensor)
 {
+#if defined(USE_GYRO_SLEW_LIMITER)
+	gyroInitSlewLimiter(gyroSensor);
+#endif
     gyroInitFilterLpf(gyroSensor, gyroConfig()->gyro_soft_lpf_hz);
     gyroInitFilterNotch1(gyroSensor, gyroConfig()->gyro_soft_notch_hz_1, gyroConfig()->gyro_soft_notch_cutoff_1);
     gyroInitFilterNotch2(gyroSensor, gyroConfig()->gyro_soft_notch_hz_2, gyroConfig()->gyro_soft_notch_cutoff_2);
@@ -582,6 +599,21 @@ STATIC_UNIT_TESTED void performGyroCalibration(gyroSensor_t *gyroSensor, uint8_t
 
 }
 
+#if defined(USE_GYRO_SLEW_LIMITER)
+int32_t gyroSlewLimiter(int axis, gyroSensor_t *gyroSensor)
+{
+	int32_t newRawGyro = (int32_t) gyroSensor->gyroDev.gyroADCRaw[axis];
+
+	if (abs(newRawGyro - gyroSensor->gyroDev.gyroADCRawPrevious[axis]) > (1<<14))
+		newRawGyro = gyroSensor->gyroDev.gyroADCRawPrevious[axis];
+	else
+		gyroSensor->gyroDev.gyroADCRawPrevious[axis] = newRawGyro;
+
+	return newRawGyro;
+}
+#endif
+
+
 void gyroUpdateSensor(gyroSensor_t *gyroSensor)
 {
     if (!gyroSensor->gyroDev.readFn(&gyroSensor->gyroDev)) {
@@ -590,10 +622,15 @@ void gyroUpdateSensor(gyroSensor_t *gyroSensor)
     gyroSensor->gyroDev.dataReady = false;
 
     if (isGyroSensorCalibrationComplete(gyroSensor)) {
-        // move gyro data into 32-bit variables to avoid overflows in calculations
-        gyroSensor->gyroDev.gyroADC[X] = (int32_t)gyroSensor->gyroDev.gyroADCRaw[X] - (int32_t)gyroSensor->gyroDev.gyroZero[X];
-        gyroSensor->gyroDev.gyroADC[Y] = (int32_t)gyroSensor->gyroDev.gyroADCRaw[Y] - (int32_t)gyroSensor->gyroDev.gyroZero[Y];
-        gyroSensor->gyroDev.gyroADC[Z] = (int32_t)gyroSensor->gyroDev.gyroADCRaw[Z] - (int32_t)gyroSensor->gyroDev.gyroZero[Z];
+    	// move 16-bit gyro data into 32-bit variables to avoid overflows in calculations
+
+    	gyroSensor->gyroDev.gyroADC[X] = gyroSensor->gyroDev.gyroADCRaw[X] - gyroSensor->gyroDev.gyroZero[X];
+    	gyroSensor->gyroDev.gyroADC[Y] = gyroSensor->gyroDev.gyroADCRaw[Y] - gyroSensor->gyroDev.gyroZero[Y];
+#if defined(USE_GYRO_SLEW_LIMITER)
+    	gyroSensor->gyroDev.gyroADC[Z] = gyroSlewLimiter(Z, gyroSensor) - gyroSensor->gyroDev.gyroZero[Z];
+#else
+    	gyroSensor->gyroDev.gyroADC[Z] = gyroSensor->gyroDev.gyroADCRaw[Z] - gyroSensor->gyroDev.gyroZero[Z];
+#endif
 
         alignSensors(gyroSensor->gyroDev.gyroADC, gyroSensor->gyroDev.gyroAlign);
     } else {