diff --git a/src/main/flight/imu.c b/src/main/flight/imu.c
index b012c040d27..a70d596c2cb 100644
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@@ -703,19 +703,20 @@ static void imuCalculateTurnRateacceleration(fpVector3_t *vEstcentrifugalAccelBF
     //fixed wing only
     static float lastspeed = -1.0f;
     float currentspeed = 0;
-    if (isGPSTrustworthy()){
-        //first speed choice is gps
-        currentspeed = GPS3DspeedFiltered;
-        *acc_ignore_slope_multipiler = 4.0f;
-    }
 #ifdef USE_PITOT
-    else if (sensors(SENSOR_PITOT) && pitotIsHealthy())
+    if (pitotGetValidForAirspeed())
     {
-        // second choice is pitot
+        // first choice is airspeed
 		currentspeed = getAirspeedEstimate();
-        *acc_ignore_slope_multipiler = 2.0f;
+        *acc_ignore_slope_multipiler = 4.0f;
     }
+    else
 #endif
+    if (isGPSTrustworthy()){
+        // second choice is gps
+        currentspeed = GPS3DspeedFiltered;
+        *acc_ignore_slope_multipiler = 4.0f;
+    }
     else
     {
         //third choice is fixedWingReferenceAirspeed
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 0a2faa648ca..713810dbfb8 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -552,7 +552,7 @@ void updatePIDCoefficients(void)
     float tpaFactor=1.0f;
     float iTermFactor=1.0f;  // Separate factor for I-term scaling
     if(usedPidControllerType == PID_TYPE_PIFF){ // Fixed wing TPA calculation
-        if(currentControlProfile->throttle.apa_pow>0 && pitotValidForAirspeed()){
+        if(currentControlProfile->throttle.apa_pow>0 && pitotGetValidForAirspeed()){
             tpaFactor = calculateFixedWingAirspeedTPAFactor();
             iTermFactor = calculateFixedWingAirspeedITermFactor();  // Less aggressive I-term scaling
         }else{
diff --git a/src/main/sensors/pitotmeter.c b/src/main/sensors/pitotmeter.c
index b4b61f57669..dfc960f81b1 100755
--- a/src/main/sensors/pitotmeter.c
+++ b/src/main/sensors/pitotmeter.c
@@ -69,8 +69,9 @@ pitot_t pitot = {.lastMeasurementUs = 0, .lastSeenHealthyMs = 0};
 static bool pitotHardwareFailed = false;
 static uint16_t pitotFailureCounter = 0;
 static uint16_t pitotRecoveryCounter = 0;
-#define PITOT_FAILURE_THRESHOLD 20   // 0.2 seconds at 100Hz - fast detection per LOG00002 analysis
-#define PITOT_RECOVERY_THRESHOLD 200 // 2 seconds of consecutive good readings to recover
+static bool pitotAirspeedValidCached = false;
+#define PITOT_FAILURE_THRESHOLD 10   // 0.2 seconds at 50Hz - fast detection per LOG00002 analysis
+#define PITOT_RECOVERY_THRESHOLD 100 // 2 seconds of consecutive good readings to recover
 
 // Forward declaration for GPS-based airspeed fallback
 static float getVirtualAirspeedEstimate(void);
@@ -216,6 +217,7 @@ static void performPitotCalibrationCycle(void)
     }
 }
 
+
 STATIC_PROTOTHREAD(pitotThread)
 {
     ptBegin(pitotThread);
@@ -263,7 +265,8 @@ STATIC_PROTOTHREAD(pitotThread)
         if (pitotmeterConfig()->pitot_hardware == PITOT_FAKE) { 
             pitotPressureTmp = sq(fakePitotGetAirspeed()) * SSL_AIR_DENSITY / 20000.0f + SSL_AIR_PRESSURE;     
         } 
-#endif
+#endif  
+        pitotAirspeedValidCached = pitotValidateAirspeed();
         ptYield();
 
         // Calculate IAS
@@ -433,7 +436,7 @@ bool pitotHasFailed(void)
     return pitotHardwareFailed;
 }
 
-bool pitotValidForAirspeed(void)
+bool pitotValidateAirspeed(void)
 {
     bool ret = false;
     ret = pitotIsHealthy() && pitotIsCalibrationComplete();
@@ -492,4 +495,9 @@ bool pitotValidForAirspeed(void)
 
     return ret;
 }
+
+bool pitotGetValidForAirspeed(void)
+{
+    return pitotAirspeedValidCached;
+}
 #endif /* PITOT */
diff --git a/src/main/sensors/pitotmeter.h b/src/main/sensors/pitotmeter.h
index 69451098ec8..e79920a81ac 100755
--- a/src/main/sensors/pitotmeter.h
+++ b/src/main/sensors/pitotmeter.h
@@ -69,7 +69,8 @@ void pitotStartCalibration(void);
 void pitotUpdate(void);
 float getAirspeedEstimate(void);
 bool pitotIsHealthy(void);
-bool pitotValidForAirspeed(void);
+bool pitotValidateAirspeed(void);
+bool pitotGetValidForAirspeed(void);
 bool pitotHasFailed(void);
 
 #endif