diff --git a/docs/Settings.md b/docs/Settings.md
index 256dd05a005..193cc38485a 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -302,6 +302,16 @@ ADC channel to use for analog pitot tube (airspeed) sensor. If board doesn't hav
 
 ---
 
+### airspeed_tpa_pow
+
+Use airspeed instead of throttle position for TPA if airspeed is available on fixedwing. pid_multiplier(tpa_factor) = (referenceAirspeed/airspeed)**(airspeed_tpa_pow/100). Set to 0 will disable this feature and use throttle based tpa;
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 120 | 0 | 200 |
+
+---
+
 ### align_board_pitch
 
 Arbitrary board rotation in deci-degrees (0.1 degree), to allow mounting it sideways / upside down / rotated etc
@@ -5568,7 +5578,7 @@ Pitot tube lowpass filter cutoff frequency. Lower cutoff frequencies result in s
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 350 | 0 | 10000 |
+| 1000 | 0 | 10000 |
 
 ---
 
diff --git a/src/main/fc/controlrate_profile.c b/src/main/fc/controlrate_profile.c
index c8b144e136c..1c2d632d9ce 100644
--- a/src/main/fc/controlrate_profile.c
+++ b/src/main/fc/controlrate_profile.c
@@ -46,7 +46,8 @@ void pgResetFn_controlRateProfiles(controlRateConfig_t *instance)
                 .dynPID = SETTING_TPA_RATE_DEFAULT,
                 .dynPID_on_YAW = SETTING_TPA_ON_YAW_DEFAULT,
                 .pa_breakpoint = SETTING_TPA_BREAKPOINT_DEFAULT,
-                .fixedWingTauMs = SETTING_FW_TPA_TIME_CONSTANT_DEFAULT
+                .fixedWingTauMs = SETTING_FW_TPA_TIME_CONSTANT_DEFAULT,
+                .airspeed_tpa_pow = SETTING_AIRSPEED_TPA_POW_DEFAULT,
             },
 
             .stabilized = {
diff --git a/src/main/fc/controlrate_profile_config_struct.h b/src/main/fc/controlrate_profile_config_struct.h
index e4038537603..8c4e57b7f1f 100644
--- a/src/main/fc/controlrate_profile_config_struct.h
+++ b/src/main/fc/controlrate_profile_config_struct.h
@@ -32,6 +32,7 @@ typedef struct controlRateConfig_s {
         bool dynPID_on_YAW;
         uint16_t pa_breakpoint;                // Breakpoint where TPA is activated
         uint16_t fixedWingTauMs;               // Time constant of airplane TPA PT1-filter
+        uint16_t airspeed_tpa_pow;                     // Use airspeed instead of throttle position for TPA calculation,0 to disable
     } throttle;
 
     struct {
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 5fe29261630..d5a80e745d3 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -656,7 +656,7 @@ groups:
         description: "Pitot tube lowpass filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay"
         min: 0
         max: 10000
-        default_value: 350
+        default_value: 1000
       - name: pitot_scale
         description: "Pitot tube scale factor"
         min: 0
@@ -1337,6 +1337,13 @@ groups:
         field: throttle.rcExpo8
         min: 0
         max: 100
+      - name: airspeed_tpa_pow
+        description: "Use airspeed instead of throttle position for TPA if airspeed is available on fixedwing. pid_multiplier(tpa_factor) = (referenceAirspeed/airspeed)**(airspeed_tpa_pow/100). Set to 0 will disable this feature and use throttle based tpa;"
+        type: uint16_t
+        field: throttle.airspeed_tpa_pow
+        default_value: 120
+        min: 0
+        max: 200
       - name: tpa_rate
         description: "Throttle PID attenuation reduces influence of PDFF on ROLL and PITCH of multi-rotor, PIDFF on ROLL,PITCH,YAW OF fixed_wing as throttle increases. For every 1% throttle after the TPA breakpoint, P is reduced by the TPA rate."
         default_value: 0
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index ae8eb57fb30..14a78ea7842 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -126,7 +126,7 @@ static EXTENDED_FASTRAM pt1Filter_t headingHoldRateFilter;
 static EXTENDED_FASTRAM pt1Filter_t fixedWingTpaFilter;
 
 // Thrust PID Attenuation factor. 0.0f means fully attenuated, 1.0f no attenuation is applied
-STATIC_FASTRAM bool pidGainsUpdateRequired;
+STATIC_FASTRAM bool pidGainsUpdateRequired= true;
 FASTRAM int16_t axisPID[FLIGHT_DYNAMICS_INDEX_COUNT];
 
 #ifdef USE_BLACKBOX
@@ -441,6 +441,14 @@ float pidRcCommandToRate(int16_t stick, uint8_t rate)
     return scaleRangef((float) stick, -500.0f, 500.0f, -maxRateDPS, maxRateDPS);
 }
 
+static float calculateFixedWingAirspeedTPAFactor(void){
+    const float airspeed = getAirspeedEstimate(); // in cm/s
+    const float referenceAirspeed = pidProfile()->fixedWingReferenceAirspeed; // in cm/s
+    float tpaFactor= powf(referenceAirspeed/(airspeed+0.01f), currentControlRateProfile->throttle.airspeed_tpa_pow/100.0f);
+    tpaFactor= constrainf(tpaFactor, 0.3f, 2.0f);
+    return tpaFactor;
+}
+
 static float calculateFixedWingTPAFactor(uint16_t throttle)
 {
     float tpaFactor;
@@ -469,15 +477,15 @@ static float calculateFixedWingTPAFactor(uint16_t throttle)
     return tpaFactor;
 }
 
-static float calculateMultirotorTPAFactor(void)
+static float calculateMultirotorTPAFactor(uint16_t throttle)
 {
     float tpaFactor;
 
     // TPA should be updated only when TPA is actually set
-    if (currentControlRateProfile->throttle.dynPID == 0 || rcCommand[THROTTLE] < currentControlRateProfile->throttle.pa_breakpoint) {
+    if (currentControlRateProfile->throttle.dynPID == 0 || throttle < currentControlRateProfile->throttle.pa_breakpoint) {
         tpaFactor = 1.0f;
-    } else if (rcCommand[THROTTLE] < getMaxThrottle()) {
-        tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (float)(getMaxThrottle() - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f;
+    } else if (throttle < getMaxThrottle()) {
+        tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (throttle - currentControlRateProfile->throttle.pa_breakpoint) / (float)(getMaxThrottle() - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f;
     } else {
         tpaFactor = (100 - currentControlRateProfile->throttle.dynPID) / 100.0f;
     }
@@ -485,6 +493,19 @@ static float calculateMultirotorTPAFactor(void)
     return tpaFactor;
 }
 
+static float calculateTPAThtrottle(void)
+{
+    uint16_t tpaThrottle = 0;
+
+    if (usedPidControllerType == PID_TYPE_PIFF && (currentControlRateProfile->throttle.fixedWingTauMs > 0)) { //fixed wing TPA with filtering
+        tpaThrottle = pt1FilterApply(&fixedWingTpaFilter, rcCommand[THROTTLE]);
+    }
+    else {
+        tpaThrottle = rcCommand[THROTTLE]; //multirotor TPA without filtering
+    }
+    return tpaThrottle;
+}
+
 void schedulePidGainsUpdate(void)
 {
     pidGainsUpdateRequired = true;
@@ -492,22 +513,7 @@ void schedulePidGainsUpdate(void)
 
 void updatePIDCoefficients(void)
 {
-    STATIC_FASTRAM uint16_t prevThrottle = 0;
-
-    // Check if throttle changed. Different logic for fixed wing vs multirotor
-    if (usedPidControllerType == PID_TYPE_PIFF && (currentControlRateProfile->throttle.fixedWingTauMs > 0)) {
-        uint16_t filteredThrottle = pt1FilterApply(&fixedWingTpaFilter, rcCommand[THROTTLE]);
-        if (filteredThrottle != prevThrottle) {
-            prevThrottle = filteredThrottle;
-            pidGainsUpdateRequired = true;
-        }
-    }
-    else {
-        if (rcCommand[THROTTLE] != prevThrottle) {
-            prevThrottle = rcCommand[THROTTLE];
-            pidGainsUpdateRequired = true;
-        }
-    }
+    STATIC_FASTRAM float tpaFactorprev=-1.0f;
 
 #ifdef USE_ANTIGRAVITY
     if (usedPidControllerType == PID_TYPE_PID) {
@@ -522,14 +528,29 @@ void updatePIDCoefficients(void)
     for (int axis = 0; axis < 3; axis++) {
         pidState[axis].stickPosition = constrain(rxGetChannelValue(axis) - PWM_RANGE_MIDDLE, -500, 500) / 500.0f;
     }
+    
+    float tpaFactor=1.0f;
+    if(usedPidControllerType == PID_TYPE_PIFF){ // Fixed wing TPA calculation
+        if(currentControlRateProfile->throttle.airspeed_tpa_pow>0 && pitotValidForAirspeed()){
+            tpaFactor = calculateFixedWingAirspeedTPAFactor();
+        }else{
+            tpaFactor = calculateFixedWingTPAFactor(calculateTPAThtrottle());
+        }
+    } else {
+        tpaFactor = calculateMultirotorTPAFactor(calculateTPAThtrottle());
+    }
+    if (tpaFactor != tpaFactorprev) {
+        pidGainsUpdateRequired = true;
+    }
+    tpaFactorprev = tpaFactor;
 
+    
     // If nothing changed - don't waste time recalculating coefficients
     if (!pidGainsUpdateRequired) {
         return;
     }
 
-    const float tpaFactor = usedPidControllerType == PID_TYPE_PIFF ? calculateFixedWingTPAFactor(prevThrottle) : calculateMultirotorTPAFactor();
-
+    
     // PID coefficients can be update only with THROTTLE and TPA or inflight PID adjustments
     //TODO: Next step would be to update those only at THROTTLE or inflight adjustments change
     for (int axis = 0; axis < 3; axis++) {
diff --git a/src/main/sensors/pitotmeter.c b/src/main/sensors/pitotmeter.c
index baf7bed0a61..cb5b9f76f9a 100755
--- a/src/main/sensors/pitotmeter.c
+++ b/src/main/sensors/pitotmeter.c
@@ -305,4 +305,13 @@ bool pitotIsHealthy(void)
     return (millis() - pitot.lastSeenHealthyMs) < PITOT_HARDWARE_TIMEOUT_MS;
 }
 
+bool pitotValidForAirspeed(void)
+{
+    bool ret = false;
+    ret = pitotIsHealthy() && pitotIsCalibrationComplete();
+    if (detectedSensors[SENSOR_INDEX_PITOT] == PITOT_VIRTUAL) {
+        ret = ret && STATE(GPS_FIX);
+    }
+    return ret;
+}
 #endif /* PITOT */
diff --git a/src/main/sensors/pitotmeter.h b/src/main/sensors/pitotmeter.h
index aed924f8e4c..68f5a9c1a02 100755
--- a/src/main/sensors/pitotmeter.h
+++ b/src/main/sensors/pitotmeter.h
@@ -69,5 +69,6 @@ void pitotStartCalibration(void);
 void pitotUpdate(void);
 float getAirspeedEstimate(void);
 bool pitotIsHealthy(void);
+bool pitotValidForAirspeed(void);
 
 #endif