diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
index c6f2fc3217..6510acc040 100644
--- a/src/main/cli/settings.c
+++ b/src/main/cli/settings.c
@@ -1424,6 +1424,7 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_AFCS_AIR_DENSITY, VAR_UINT16, .config.minmaxUnsigned = { 0, 1300 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_air_density) },
     { PARAM_NAME_AFCS_LIFT_C_LIMIT, VAR_UINT8, .config.minmaxUnsigned = { 5, 20 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_lift_c_limit) },
     { PARAM_NAME_AFCS_AOA_LIMITER_GAIN, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_aoa_limiter_gain) },
+    { PARAM_NAME_AFCS_SERVO_TIME, VAR_UINT16, .config.minmaxUnsigned = { 5, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, afcs_servo_time) },
 #endif
 // PG_TELEMETRY_CONFIG
 #ifdef USE_TELEMETRY
diff --git a/src/main/fc/parameter_names.h b/src/main/fc/parameter_names.h
index 27e1d2811e..1c9c65b52f 100644
--- a/src/main/fc/parameter_names.h
+++ b/src/main/fc/parameter_names.h
@@ -295,4 +295,5 @@
 #define PARAM_NAME_AFCS_AIR_DENSITY "afcs_air_density"
 #define PARAM_NAME_AFCS_LIFT_C_LIMIT "afcs_lift_c_limit"
 #define PARAM_NAME_AFCS_AOA_LIMITER_GAIN "afcs_aoa_limiter_gain"
+#define PARAM_NAME_AFCS_SERVO_TIME "afcs_servo_time"
 #endif
\ No newline at end of file
diff --git a/src/main/flight/airplane_fcs.c b/src/main/flight/airplane_fcs.c
index 936d61fc0a..99b4c5270b 100644
--- a/src/main/flight/airplane_fcs.c
+++ b/src/main/flight/airplane_fcs.c
@@ -16,25 +16,32 @@ void afcsInit(const pidProfile_t *pidProfile)
 
 static float computeLiftCoefficient(const pidProfile_t *pidProfile, float speed, float accelZ)
 {
-    float liftC = 0.0f;
-    const float speedThreshold = 2.0f;    //gps speed thresold
     const float limitLiftC = 2.0f;
+    float liftC = 0.0f;
+    const float speedThreshold = 2.5f;    //gps speed thresold
     if (speed > speedThreshold) {
         const float airSpeedPressure = (0.001f * pidProfile->afcs_air_density) * sq(speed) / 2.0f;
         liftC = accelZ * (0.001f * pidProfile->afcs_wing_load) * G_ACCELERATION / airSpeedPressure;
-        liftC = constrainf(liftC, -limitLiftC, limitLiftC); //limit lift force coef value for small speed to prevent unreal AoA
+        liftC = constrainf(liftC, -limitLiftC, limitLiftC); //limit lift force coef value for small speed to prevent unreal values during plane launch
+    } else {
+        liftC = limitLiftC;
     }
 
     return liftC;
 }
 
+//The astatic accel Z controller by stick position
 static void updateAstaticAccelZController(const pidProfile_t *pidProfile, float pitchPilotCtrl, float accelZ)
 {
     if (pidProfile->afcs_pitch_accel_i_gain != 0) {
+        const float servoVelocityLimit = 100.0f / (pidProfile->afcs_servo_time * 0.001f); // Limit servo velocity %/s
         float accelReq = pitchPilotCtrl > 0.0f ? (0.1f * pidProfile->afcs_pitch_accel_max - 1.0f) * pitchPilotCtrl * 0.01f + 1.0f
                                                : (0.1f * pidProfile->afcs_pitch_accel_min + 1.0f) * pitchPilotCtrl * 0.01f + 1.0f;
         float accelDelta = accelReq - accelZ;
-        pidRuntime.afcsElevatorAddition += accelDelta * (pidProfile->afcs_pitch_accel_i_gain * 0.1f) * pidRuntime.dT;
+        float servoVelocity = accelDelta * (pidProfile->afcs_pitch_accel_i_gain * 0.1f);
+        servoVelocity = constrainf(servoVelocity, -servoVelocityLimit, servoVelocityLimit);
+        pidRuntime.afcsElevatorAddition += servoVelocity * pidRuntime.dT;
+
         float output = pidData[FD_PITCH].Sum + pidRuntime.afcsElevatorAddition;
         if ( output > 100.0f) {
             pidRuntime.afcsElevatorAddition = 100.0f - pidData[FD_PITCH].Sum;
@@ -56,17 +63,23 @@ static bool updateAngleOfAttackLimiter(const pidProfile_t *pidProfile, float acc
         float liftCoef = computeLiftCoefficient(pidProfile, speed, accelZ);
         float limitLiftC = 0.1f * pidProfile->afcs_lift_c_limit;
         float liftCoefDiff;
+        const float servoVelocityLimit = 100.0f / (pidProfile->afcs_servo_time * 0.001f); // Limit servo velocity %/s
+        float servoVelocity;
         if (liftCoef > 0.5f) {
             liftCoefDiff = limitLiftC - liftCoef;
             if (liftCoefDiff < 0.0f) {
                 isLimitAoA = true;
-                pidRuntime.afcsElevatorAddition += liftCoefDiff * (pidProfile->afcs_aoa_limiter_gain * 0.1f) * pidRuntime.dT;
+                servoVelocity = liftCoefDiff * (pidProfile->afcs_aoa_limiter_gain * 0.1f);
+                servoVelocity = constrainf(servoVelocity, -servoVelocityLimit, servoVelocityLimit);
+                pidRuntime.afcsElevatorAddition += servoVelocity * pidRuntime.dT;
             }
         } else if (liftCoef < -0.5f) {
             liftCoefDiff = -limitLiftC - liftCoef;
             if (liftCoefDiff > 0.0f) {
                 isLimitAoA = true;
-                pidRuntime.afcsElevatorAddition += liftCoefDiff * (pidProfile->afcs_aoa_limiter_gain * 0.1f) * pidRuntime.dT;
+                servoVelocity = liftCoefDiff * (pidProfile->afcs_aoa_limiter_gain * 0.1f);
+                servoVelocity = constrainf(servoVelocity, -servoVelocityLimit, servoVelocityLimit);
+                pidRuntime.afcsElevatorAddition += servoVelocity * pidRuntime.dT;
             }
         }
         DEBUG_SET(DEBUG_AFCS, 3, lrintf(liftCoef * 100.0f));
@@ -76,9 +89,8 @@ static bool updateAngleOfAttackLimiter(const pidProfile_t *pidProfile, float acc
 }
 
 
-void FAST_CODE afcsUpdate(const pidProfile_t *pidProfile, timeUs_t currentTimeUs)
+void FAST_CODE afcsUpdate(const pidProfile_t *pidProfile)
 {
-    UNUSED(currentTimeUs);
     for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
         pidData[axis].P = 0;
         pidData[axis].I = 0;
diff --git a/src/main/flight/airplane_fcs.h b/src/main/flight/airplane_fcs.h
index cbf311aeab..c9284be675 100644
--- a/src/main/flight/airplane_fcs.h
+++ b/src/main/flight/airplane_fcs.h
@@ -1,4 +1,4 @@
 #pragma once
 #include "pid.h"
 void afcsInit(const pidProfile_t *pidProfile);
-void FAST_CODE afcsUpdate(const pidProfile_t *pidProfile, timeUs_t currentTimeUs);
+void FAST_CODE afcsUpdate(const pidProfile_t *pidProfile);
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index d61e1e0a02..bc69a04e69 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -284,6 +284,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .afcs_air_density = 1225,              // The current atmosphere air density [mg/m^3], the MSA 1225 g/m^3 value is default. TODO: Dynamical air density computing by using baro sensors data
         .afcs_lift_c_limit = 12,               // Limit aerodinamics lift force coefficient value *10
         .afcs_aoa_limiter_gain = 250,          // elevator speed for 0.1 lift force coef difference in %/sec *10
+        .afcs_servo_time = 90,                 // minimal time of servo movement from neutrale to maximum, ms
 #endif
     );
 }
@@ -1261,7 +1262,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
 #ifdef USE_AIRPLANE_FCS
     bool isAFCS = isFixedWing() && FLIGHT_MODE(AIRPLANE_FCS_MODE);
     if (isAFCS) {
-        afcsUpdate(pidProfile, currentTimeUs);
+        afcsUpdate(pidProfile);
         return;         // The airplanes FCS do not need PID controller
     }
 #endif
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 03d760e65e..7cdd23886d 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -347,6 +347,7 @@ typedef struct pidProfile_s {
     uint16_t afcs_air_density;                  // The current atmosphere air density [mg/m^3], the MSA 1225 g/m^3 value is default. TODO: Dynamical air density computing by using baro sensors data
     uint8_t afcs_lift_c_limit;                  // Limit aerodinamics lift force coefficient value *10
     uint16_t afcs_aoa_limiter_gain;             // elevator speed for 0.1 lift force coef difference in %/sec *10
+    uint16_t afcs_servo_time;                   // minimal time of servo movement from neutrale to maximum, ms
 #endif
 } pidProfile_t;