diff --git a/conf/airframes/CDW/debug_i2c_lpc.xml b/conf/airframes/CDW/debug_i2c_lpc.xml
index ba83581105..a93292c82a 100644
--- a/conf/airframes/CDW/debug_i2c_lpc.xml
+++ b/conf/airframes/CDW/debug_i2c_lpc.xml
@@ -42,21 +42,12 @@
     <define name="BRAKE_PITCH" value="0.0f"/>
     <define name="MAX_BRAKE_RATE" value="150"/>
 
-    <define name="RATELIMIT(X,RATE)" value="( _rate_limited_value + Chop( (X) - _rate_limited_value, -(RATE), (RATE)  )); \
-       int16_t _rate_limited_value = 0;"/>
-
 </section>
 
   <command_laws>
     <!-- Brake Rate Limiter -->
-    <let var="brake_value" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
-    <!--<let var="brake_value" value="RATELIMIT(  $brake_value , MAX_BRAKE_RATE )"/>
-
-    <let var="test; \
-  	      static int16_t _var_brake_value = 0; \
-              _var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
-              int verwaarloos_deze_warning_CDW" value="0"/>
-		-->
+    <let var="brake_value_nofilt" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
+    <ratelimit var="brake_value" value="$brake_value_nofilt" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE" />
 
     <!-- Differential Aileron Depending on Brake Value -->
     <let var="aileron_up_rate" value="(AILERON_RATE_UP   * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE   * $brake_value)"/>
diff --git a/conf/airframes/CDW/yapa_xsens.xml b/conf/airframes/CDW/yapa_xsens.xml
index 45e715c90d..6e0db7d71a 100644
--- a/conf/airframes/CDW/yapa_xsens.xml
+++ b/conf/airframes/CDW/yapa_xsens.xml
@@ -47,17 +47,12 @@
 
     <define name="RUDDER_OF_AILERON" value="0.3"/>
 
-    <define name="LIMIT(X,XL,XH)" value="(    ((X)>(XH))   ?    (XH)    :    ( ((X)>(XL)) ? (X) : (XL) )    )"/>
-
 </section>
 
   <command_laws>
     <!-- Brake Rate Limiter -->
-    <let var="brake_value_nofilt" value="LIMIT(-@BRAKE, 0, MAX_PPRZ)"/>
-    <let var="test; \
-  	      static int16_t _var_brake_value = 0; \
-              _var_brake_value += LIMIT(_var_brake_value_nofilt - _var_brake_value,-MAX_BRAKE_RATE,MAX_BRAKE_RATE); \
-              int verwaarloos_deze_warning_CDW" value="0"/>
+    <let var="brake_value_nofilt" value="Chop(-@BRAKE, 0, MAX_PPRZ)"/>
+    <ratelimit var="brake_value" value="$brake_value_nofilt" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE" />
 
     <!-- Differential Aileron Depending on Brake Value -->
     <let var="aileron_up_rate" value="(AILERON_RATE_UP   * (MAX_PPRZ - $brake_value)) + (AILERON_RATE_UP_BRAKE   * $brake_value)"/>
diff --git a/conf/airframes/airframe.dtd b/conf/airframes/airframe.dtd
index d1a225ab55..9a1e5c36b6 100644
--- a/conf/airframes/airframe.dtd
+++ b/conf/airframes/airframe.dtd
@@ -11,11 +11,12 @@
 <!ELEMENT rc_commands (set)*>
 <!ELEMENT auto_rc_commands (set)*>
 <!ELEMENT ap_only_commands (copy)*>
-<!ELEMENT command_laws (let|set)*>
+<!ELEMENT command_laws (let|set|ratelimit)*>
 <!ELEMENT section (define|linear)*>
 <!ELEMENT servo EMPTY>
 <!ELEMENT axis EMPTY>
 <!ELEMENT set EMPTY>
+<!ELEMENT ratelimit EMPTY>
 <!ELEMENT copy EMPTY>
 <!ELEMENT let EMPTY>
 <!ELEMENT define EMPTY>
@@ -93,6 +94,12 @@ command CDATA #REQUIRED>
 var CDATA #REQUIRED
 value CDATA #REQUIRED>
 
+<!ATTLIST ratelimit
+var CDATA #REQUIRED
+value CDATA #REQUIRED
+rate_min CDATA #REQUIRED
+rate_max CDATA #REQUIRED>
+
 <!ATTLIST define
 name CDATA #REQUIRED
 value CDATA #IMPLIED
diff --git a/conf/airframes/examples/easy_glider.xml b/conf/airframes/examples/easy_glider.xml
index 22d9fe016d..e4573550a2 100644
--- a/conf/airframes/examples/easy_glider.xml
+++ b/conf/airframes/examples/easy_glider.xml
@@ -16,6 +16,7 @@
     <axis name="ROLL" failsafe_value="0"/>
     <axis name="PITCH" failsafe_value="0"/>
     <axis name="YAW" failsafe_value="0"/>
+    <axis name="BRAKE" failsafe_value="0"/>
   </commands>
 
   <rc_commands>
@@ -23,21 +24,29 @@
     <set command="ROLL" value="@ROLL"/>
     <set command="PITCH" value="@PITCH"/>
     <set command="YAW" value="@YAW"/>
+    <set command="BRAKE" value="@GAIN1"/>
   </rc_commands>
 
   <section name="MIXER">
      <define name="AILERON_DIFF" value="0.66"/>
      <define name="COMBI_SWITCH" value="1.0"/>
+
+     <define name="BRAKE_DEFLECTION_TIME" value="2.0" /> <!-- seconds -->
+     <define name="MAX_BRAKE_RATE" value="(MAX_PPRZ / (60 * BRAKE_DEFLECTION_TIME ))" />
+     <define name="BRAKE_AILEVON" value="-0.68f"/>
+     <define name="BRAKE_PITCH" value="0.01f"/>
   </section>
 
   <command_laws>
+    <ratelimit var="brake_value" value="Chop(@BRAKE, 0, MAX_PPRZ)" rate_min="-MAX_BRAKE_RATE" rate_max="MAX_BRAKE_RATE" />
+
     <set servo="THROTTLE" value="@THROTTLE"/>
-    <set servo="ELEVATOR" value="@PITCH"/>
+    <set servo="ELEVATOR" value="@PITCH + BRAKE_PITCH * $brake_value"/>
     <set servo="RUDDER" value="@YAW + @ROLL*COMBI_SWITCH"/>
 
     <let var="roll" value="@ROLL"/>
-    <set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll"/>
-    <set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll"/>
+    <set servo="AILERON_LEFT" value="($roll > 0 ? AILERON_DIFF : 1) * $roll + BRAKE_AILEVON * $brake_value"/>
+    <set servo="AILERON_RIGHT" value="($roll > 0 ? 1 : AILERON_DIFF) * $roll + BRAKE_AILEVON * $brake_value"/>
   </command_laws>
 
   <section name="AUTO1" prefix="AUTO1_">
diff --git a/sw/tools/gen_airframe.ml b/sw/tools/gen_airframe.ml
index aa58e5ad54..458f607354 100644
--- a/sw/tools/gen_airframe.ml
+++ b/sw/tools/gen_airframe.ml
@@ -171,6 +171,13 @@ let parse_command_laws = fun command ->
        and value = a "value" in
        let v = preprocess_value value "values" "COMMAND" in
        printf "  int16_t _var_%s = %s;\\\n" var v
+   | "ratelimit" ->
+       let var = a "var"
+       and value = a "value"
+       and rate_min = a "rate_min"
+       and rate_max = a "rate_max" in
+       let v = preprocess_value value "values" "COMMAND" in
+       printf "  static int16_t _var_%s = 0; _var_%s = Chop((%s) - (_var_%s), (%s), (%s));\\\n" var var v var rate_min rate_max
    | "define" ->
        parse_element "" command
    | _ -> xml_error "set|let"