diff --git a/src/main/flight/rth_estimator.c b/src/main/flight/rth_estimator.c
index d9897c32c7..4ddc719037 100644
--- a/src/main/flight/rth_estimator.c
+++ b/src/main/flight/rth_estimator.c
@@ -77,7 +77,7 @@ static int8_t RTHInitialAltitudeChangePitchAngle(float altitudeChange) {
 // pitch in degrees
 // output in Watt
 static float estimatePitchPower(float pitch) {
-    int16_t altitudeChangeThrottle = fixedWingPitchToThrottleCorrection(DEGREES_TO_DECIDEGREES(pitch));
+    int16_t altitudeChangeThrottle = (int16_t)pitch * navConfig()->fw.pitch_to_throttle;
     altitudeChangeThrottle = constrain(altitudeChangeThrottle, navConfig()->fw.min_throttle, navConfig()->fw.max_throttle);
     const float altitudeChangeThrToCruiseThrRatio = (float)(altitudeChangeThrottle - getThrottleIdleValue()) / (navConfig()->fw.cruise_throttle - getThrottleIdleValue());
     return (float)heatLossesCompensatedPower(batteryMetersConfig()->idle_power + batteryMetersConfig()->cruise_power * altitudeChangeThrToCruiseThrRatio) / 100;
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index cf835dbcd7..fea8b8e7b6 100755
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -463,7 +463,7 @@ bool loadNonVolatileWaypointList(void);
 bool saveNonVolatileWaypointList(void);
 
 float getFinalRTHAltitude(void);
-int16_t fixedWingPitchToThrottleCorrection(int16_t pitch);
+int16_t fixedWingPitchToThrottleCorrection(int16_t pitch, timeUs_t currentTimeUs);
 
 /* Geodetic functions */
 typedef enum {
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 0784373f91..c9a63653e0 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -479,9 +479,9 @@ int16_t fixedWingPitchToThrottleCorrection(int16_t pitch, timeUs_t currentTimeUs
     static pt1Filter_t pitchToThrFilterState;
 
     // Apply low-pass filter to pitch angle to smooth throttle correction
-    filteredPitch = pt1FilterApply4(&pitchToThrFilterState, pitch, getPitchToThrottleSmoothnessCutoffFreq(NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ), US2S(deltaMicrosPitchToThrCorr));
+    int16_t filteredPitch = (int16_t)pt1FilterApply4(&pitchToThrFilterState, pitch, getPitchToThrottleSmoothnessCutoffFreq(NAV_FW_BASE_PITCH_CUTOFF_FREQUENCY_HZ), US2S(deltaMicrosPitchToThrCorr));
 
-    if (abs(pitch - filteredPitch) > navConfig()->fw.pitch_to_throttle_thresh) {
+    if (ABS(pitch - filteredPitch) > navConfig()->fw.pitch_to_throttle_thresh) {
         // Unfiltered throttle correction outside of pitch deadband
         return DECIDEGREES_TO_DEGREES(pitch) * navConfig()->fw.pitch_to_throttle;
     }