diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 17f64659b4..69e5ebe484 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -771,9 +771,12 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
 	rates(1) = _ctrl_state.pitch_rate;
 	rates(2) = _ctrl_state.yaw_rate;
 
+	/* throttle pid attenuation factor */
+	float tpa =  fminf(1.0f, 1.5f - fabsf(_v_rates_sp.thrust));
+
 	/* angular rates error */
 	math::Vector<3> rates_err = _rates_sp - rates;
-	_att_control = _params.rate_p.emult(rates_err) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int +
+	_att_control = _params.rate_p.emult(rates_err * tpa) + _params.rate_d.emult(_rates_prev - rates) / dt + _rates_int +
 		       _params.rate_ff.emult(_rates_sp - _rates_sp_prev) / dt;
 	_rates_sp_prev = _rates_sp;
 	_rates_prev = rates;