diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickYaw.cpp b/src/modules/flight_mode_manager/tasks/Utility/StickYaw.cpp
index edc82d6c98..608e4443c3 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/StickYaw.cpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/StickYaw.cpp
@@ -66,7 +66,8 @@ void StickYaw::generateYawSetpoint(float &yawspeed_setpoint, float &yaw_setpoint
 	}
 
 	_yawspeed_filter.setParameters(deltatime, _param_mpc_man_y_tau.get());
-	yawspeed_setpoint = _yawspeed_filter.update(stick_yaw * math::radians(_param_mpc_man_y_max.get()));
+	const float yawspeed_scale = math::min(math::radians(_param_mpc_man_y_max.get()), _yawspeed_constraint);
+	yawspeed_setpoint = _yawspeed_filter.update(stick_yaw * yawspeed_scale);
 	yaw_setpoint = updateYawLock(yaw, yawspeed_setpoint, yaw_setpoint, yaw_correction_prev);
 }
 
diff --git a/src/modules/flight_mode_manager/tasks/Utility/StickYaw.hpp b/src/modules/flight_mode_manager/tasks/Utility/StickYaw.hpp
index 185c490110..f15b4dd574 100644
--- a/src/modules/flight_mode_manager/tasks/Utility/StickYaw.hpp
+++ b/src/modules/flight_mode_manager/tasks/Utility/StickYaw.hpp
@@ -52,6 +52,7 @@ public:
 	void ekfResetHandler(float delta_yaw);
 	void generateYawSetpoint(float &yawspeed_setpoint, float &yaw_setpoint, float stick_yaw, float yaw, float deltatime,
 				 float unaided_yaw = NAN);
+	void setYawspeedConstraint(float yawspeed) { _yawspeed_constraint = yawspeed; };
 
 private:
 	AlphaFilter<float> _yawspeed_filter;
@@ -78,6 +79,8 @@ private:
 	 */
 	float updateYawLock(float yaw, float yawspeed_setpoint, float yaw_setpoint, float yaw_correction_prev) const;
 
+	float _yawspeed_constraint{INFINITY};
+
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max, ///< Maximum yaw speed with full stick deflection
 		(ParamFloat<px4::params::MPC_MAN_Y_TAU>) _param_mpc_man_y_tau ///< time constant for yaw speed filtering