diff --git a/src/modules/mc_pos_control/CMakeLists.txt b/src/modules/mc_pos_control/CMakeLists.txt
index ab9999b185..1b26f7998d 100644
--- a/src/modules/mc_pos_control/CMakeLists.txt
+++ b/src/modules/mc_pos_control/CMakeLists.txt
@@ -47,4 +47,5 @@ px4_add_module(
 		controllib
 		git_ecl
 		ecl_geo
+		SlewRate
 	)
diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
index d219c189ed..b46f5b539b 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp
@@ -49,12 +49,9 @@ MulticopterPositionControl::MulticopterPositionControl(bool vtol) :
 	_vel_y_deriv(this, "VELD"),
 	_vel_z_deriv(this, "VELD")
 {
-	// fetch initial parameter values
 	parameters_update(true);
-
-	// set failsafe hysteresis
 	_failsafe_land_hysteresis.set_hysteresis_time_from(false, LOITER_TIME_BEFORE_DESCEND);
-
+	_tilt_limit_slew_rate.setSlewRate(.2f);
 	reset_setpoint_to_nan(_setpoint);
 }
 
@@ -378,13 +375,14 @@ void MulticopterPositionControl::Run()
 			}
 
 			// limit tilt during takeoff ramupup
-			if (_takeoff.getTakeoffState() < TakeoffState::flight) {
-				_control.setTiltLimit(math::radians(_param_mpc_tiltmax_lnd.get()));
+			float tilt_limit = math::radians(_param_mpc_tiltmax_air.get());
 
-			} else {
-				_control.setTiltLimit(math::radians(_param_mpc_tiltmax_air.get()));
+			if (_takeoff.getTakeoffState() < TakeoffState::flight) {
+				tilt_limit = math::radians(_param_mpc_tiltmax_lnd.get());
 			}
 
+			_control.setTiltLimit(_tilt_limit_slew_rate.update(tilt_limit, dt));
+
 			const float speed_up = _takeoff.updateRamp(dt,
 					       PX4_ISFINITE(_vehicle_constraints.speed_up) ? _vehicle_constraints.speed_up : _param_mpc_z_vel_max_up.get());
 			const float speed_down = PX4_ISFINITE(_vehicle_constraints.speed_down) ? _vehicle_constraints.speed_down :
diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.hpp b/src/modules/mc_pos_control/MulticopterPositionControl.hpp
index 2141686446..eff575bcb1 100644
--- a/src/modules/mc_pos_control/MulticopterPositionControl.hpp
+++ b/src/modules/mc_pos_control/MulticopterPositionControl.hpp
@@ -44,6 +44,7 @@
 #include <lib/controllib/blocks.hpp>
 #include <lib/hysteresis/hysteresis.h>
 #include <lib/perf/perf_counter.h>
+#include <lib/slew_rate/SlewRateYaw.hpp>
 #include <lib/systemlib/mavlink_log.h>
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/defines.h>
@@ -197,6 +198,7 @@ private:
 	static constexpr float MAX_SAFE_TILT_DEG = 89.f; // Numerical issues above this value due to tanf
 
 	systemlib::Hysteresis _failsafe_land_hysteresis{false}; /**< becomes true if task did not update correctly for LOITER_TIME_BEFORE_DESCEND */
+	SlewRate<float> _tilt_limit_slew_rate;
 
 	uint8_t _old_takeoff_state{};