diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index e7d0588308..3d91d0a815 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -400,7 +400,7 @@ static float calculateMultirotorTPAFactor(void)
     if (currentControlRateProfile->throttle.dynPID == 0 || rcCommand[THROTTLE] < currentControlRateProfile->throttle.pa_breakpoint) {
         tpaFactor = 1.0f;
     } else if (rcCommand[THROTTLE] < motorConfig()->maxthrottle) {
-        tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (motorConfig()->maxthrottle - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f;
+        tpaFactor = (100 - (uint16_t)currentControlRateProfile->throttle.dynPID * (rcCommand[THROTTLE] - currentControlRateProfile->throttle.pa_breakpoint) / (float)(motorConfig()->maxthrottle - currentControlRateProfile->throttle.pa_breakpoint)) / 100.0f;
     } else {
         tpaFactor = (100 - currentControlRateProfile->throttle.dynPID) / 100.0f;
     }
@@ -830,7 +830,7 @@ float pidHeadingHold(void)
         New controller for 2deg error requires 2,6dps. 4dps for 3deg and so on up until mag_hold_rate_limit is reached.
     */
 
-    headingHoldRate = error * pidBank()->pid[PID_HEADING].P / 30;
+    headingHoldRate = error * pidBank()->pid[PID_HEADING].P / 30.0f;
     headingHoldRate = constrainf(headingHoldRate, -pidProfile()->heading_hold_rate_limit, pidProfile()->heading_hold_rate_limit);
     headingHoldRate = pt1FilterApply4(&headingHoldRateFilter, headingHoldRate, HEADING_HOLD_ERROR_LPF_FREQ, dT);