diff --git a/src/main/config/config.c b/src/main/config/config.c
index 6b11222b9..999448218 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -305,7 +305,7 @@ void resetSerialConfig(serialConfig_t *serialConfig)
 
 static void resetControlRateConfig(controlRateConfig_t *controlRateConfig) {
     controlRateConfig->rcRate8 = 100;
-    controlRateConfig->rcExpo8 = 20;
+    controlRateConfig->rcExpo8 = 60;
     controlRateConfig->thrMid8 = 50;
     controlRateConfig->thrExpo8 = 0;
     controlRateConfig->dynThrPID = 0;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 65907ec00..d79dec104 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -60,7 +60,6 @@ int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 
 // PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
 uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
-float tpaFactor;
 
 static int32_t errorGyroI[3], errorGyroILimit[3];
 static float errorGyroIf[3], errorGyroIfLimit[3];
@@ -137,6 +136,8 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
     int axis;
     float horizonLevelStrength = 1;
 
+    float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
+
     if (FLIGHT_MODE(HORIZON_MODE)) {
         // Figure out the raw stick positions
         const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
diff --git a/src/main/mw.c b/src/main/mw.c
index b84abf50d..79810bbd4 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -113,7 +113,6 @@ static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the m
 
 extern uint32_t currentTime;
 extern uint8_t dynP8[3], dynI8[3], dynD8[3], PIDweight[3];
-extern float tpaFactor;
 extern bool antiWindupProtection;
 
 uint16_t filteredCycleTime;
@@ -233,7 +232,6 @@ void annexCode(void)
             prop2 = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint);
         } else {
             prop2 = 100 - currentControlRateProfile->dynThrPID;
-            tpaFactor = prop2 / 100.0f;
         }
     }