diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 6d8f8e8db0..43ec546d7a 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -175,6 +175,7 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .launchControlAngleLimit = 0,
         .launchControlGain = 40,
         .launchControlAllowTriggerReset = true,
+        .tpaMode = TPA_MODE_PD,
     );
 #ifdef USE_DYN_LPF
     pidProfile->dterm_lowpass_hz = 120;
@@ -434,6 +435,10 @@ static FAST_RAM_ZERO_INIT uint8_t launchControlAngleLimit;
 static FAST_RAM_ZERO_INIT float launchControlKi;
 #endif
 
+#ifdef USE_TPA_MODE
+static FAST_RAM_ZERO_INIT uint8_t tpaMode;
+#endif
+
 void pidResetIterm(void)
 {
     for (int axis = 0; axis < 3; axis++) {
@@ -576,6 +581,10 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     }
     launchControlKi = ITERM_SCALE * pidProfile->launchControlGain;
 #endif
+
+#ifdef USE_TPA_MODE
+    tpaMode = pidProfile->tpaMode;
+#endif
 }
 
 void pidInit(const pidProfile_t *pidProfile)
@@ -1048,6 +1057,12 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
 
     const float tpaFactor = getThrottlePIDAttenuation();
 
+#ifdef USE_TPA_MODE
+    const float tpaFactorKp = (tpaMode == TPA_MODE_PD) ? tpaFactor : 1.0f;
+#else
+    const float tpaFactorKp = tpaFactor;
+#endif
+
 #ifdef USE_YAW_SPIN_RECOVERY
     const bool yawSpinActive = gyroYawSpinDetected();
 #endif
@@ -1145,7 +1160,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, const rollAndPitchT
         // b = 1 and only c (feedforward weight) can be tuned (amount derivative on measurement or error).
 
         // -----calculate P component
-        pidData[axis].P = pidCoefficient[axis].Kp * errorRate * tpaFactor;
+        pidData[axis].P = pidCoefficient[axis].Kp * errorRate * tpaFactorKp;
         if (axis == FD_YAW) {
             pidData[axis].P = ptermYawLowpassApplyFn((filter_t *) &ptermYawLowpass, pidData[axis].P);
         }
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 329fbb773e..5b017922c4 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -97,6 +97,11 @@ typedef enum {
     ITERM_RELAX_SETPOINT
 } itermRelaxType_e;
 
+typedef enum {
+    TPA_MODE_PD,
+    TPA_MODE_D
+} tpaMode_e;
+
 typedef struct pidProfile_s {
     uint16_t yaw_lowpass_hz;                // Additional yaw filter when yaw axis too noisy
     uint16_t dterm_lowpass_hz;              // Delta Filter in hz
@@ -156,6 +161,7 @@ typedef struct pidProfile_s {
     uint8_t launchControlAngleLimit;        // Optional launch control angle limit (requires ACC)
     uint8_t launchControlGain;              // Iterm gain used while launch control is active
     uint8_t launchControlAllowTriggerReset; // Controls trigger behavior and whether the trigger can be reset
+    uint8_t tpaMode;                        // Controls which PID terms TPA effects
 } pidProfile_t;
 
 PG_DECLARE_ARRAY(pidProfile_t, MAX_PROFILE_COUNT, pidProfiles);
diff --git a/src/main/interface/settings.c b/src/main/interface/settings.c
index d692d99056..ee1356da15 100644
--- a/src/main/interface/settings.c
+++ b/src/main/interface/settings.c
@@ -407,6 +407,12 @@ static const char * const lookupTableLaunchControlMode[] = {
 };
 #endif
 
+#ifdef USE_TPA_MODE
+static const char * const lookupTableTpaMode[] = {
+    "PD", "D"
+};
+#endif
+
 #define LOOKUP_TABLE_ENTRY(name) { name, ARRAYLEN(name) }
 
 const lookupTableEntry_t lookupTables[] = {
@@ -510,6 +516,9 @@ const lookupTableEntry_t lookupTables[] = {
 #ifdef USE_LAUNCH_CONTROL
     LOOKUP_TABLE_ENTRY(lookupTableLaunchControlMode),
 #endif
+#ifdef USE_TPA_MODE
+    LOOKUP_TABLE_ENTRY(lookupTableTpaMode),
+#endif
 };
 
 #undef LOOKUP_TABLE_ENTRY
@@ -929,6 +938,10 @@ const clivalue_t valueTable[] = {
     { "launch_control_gain",        VAR_UINT8 | PROFILE_VALUE,  .config.minmax = { 0, 200 }, PG_PID_PROFILE, offsetof(pidProfile_t, launchControlGain) },
 #endif
 
+#ifdef USE_TPA_MODE
+    { "tpa_mode",                   VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_TPA_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, tpaMode) },
+#endif
+
 // PG_TELEMETRY_CONFIG
 #ifdef USE_TELEMETRY
     { "tlm_inverted",               VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_TELEMETRY_CONFIG, offsetof(telemetryConfig_t, telemetry_inverted) },
diff --git a/src/main/interface/settings.h b/src/main/interface/settings.h
index e54d49efd9..90844e2eb4 100644
--- a/src/main/interface/settings.h
+++ b/src/main/interface/settings.h
@@ -125,6 +125,9 @@ typedef enum {
 #endif
 #ifdef USE_LAUNCH_CONTROL
     TABLE_LAUNCH_CONTROL_MODE,
+#endif
+#ifdef USE_TPA_MODE
+    TABLE_TPA_MODE,
 #endif
     LOOKUP_TABLE_COUNT
 } lookupTableIndex_e;
diff --git a/src/main/target/common_pre.h b/src/main/target/common_pre.h
index 6e7cc1dc9e..0c7e608ee1 100644
--- a/src/main/target/common_pre.h
+++ b/src/main/target/common_pre.h
@@ -177,6 +177,7 @@
 #define USE_RTC_TIME
 #define USE_RX_MSP
 #define USE_SERIALRX_FPORT      // FrSky FPort
+#define USE_TPA_MODE
 #define USE_TELEMETRY_CRSF
 #define USE_TELEMETRY_SRXL
 #define USE_VIRTUAL_CURRENT_METER