diff --git a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
index 634473723e..3f07c7b0ac 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
@@ -257,7 +257,8 @@ void v_ctl_init( void ) {
   v_ctl_throttle_setpoint = 0;
 }
 
-const float dt = 1.0 / ((float)CONTROL_FREQUENCY);
+const float dt_attidude = 1.0 / ((float)CONTROL_FREQUENCY);
+const float dt_navigation = 1.0 / ((float)NAVIGATION_FREQUENCY);
 
 /**
  * outer loop
@@ -275,7 +276,7 @@ void v_ctl_altitude_loop( void )
   BoundAbs(sp, v_ctl_max_climb);
 
   float incr = sp - v_ctl_climb_setpoint;
-  BoundAbs(incr, 10 * dt);
+  BoundAbs(incr, 2 * dt_navigation);
   v_ctl_climb_setpoint += incr;
 }
 
@@ -304,7 +305,7 @@ void v_ctl_climb_loop( void )
   // airspeed_setpoint ratelimiter:
   // AIRSPEED_SETPOINT_SLEW in m/s/s - a change from 15m/s to 18m/s takes 3s with the default value of 1
   float airspeed_incr = v_ctl_auto_airspeed_setpoint - v_ctl_auto_airspeed_setpoint_slew;
-  BoundAbs(airspeed_incr, AIRSPEED_SETPOINT_SLEW * dt);
+  BoundAbs(airspeed_incr, AIRSPEED_SETPOINT_SLEW * dt_attidude);
   v_ctl_auto_airspeed_setpoint_slew += airspeed_incr;
 
 #ifdef V_CTL_AUTO_GROUNDSPEED_SETPOINT
@@ -356,8 +357,8 @@ void v_ctl_climb_loop( void )
   if (launch && (v_ctl_mode >= V_CTL_MODE_AUTO_CLIMB))
   {
     v_ctl_auto_throttle_nominal_cruise_throttle +=
-        v_ctl_auto_throttle_of_airspeed_igain * speed_error * dt
-      + en_tot_err * v_ctl_energy_total_igain * dt;
+        v_ctl_auto_throttle_of_airspeed_igain * speed_error * dt_attidude
+      + en_tot_err * v_ctl_energy_total_igain * dt_attidude;
     Bound(v_ctl_auto_throttle_nominal_cruise_throttle,0.0f,1.0f);
   }
 
@@ -373,16 +374,16 @@ void v_ctl_climb_loop( void )
     en_dis_err = -vdot_err;
 
     // adjust climb_setpoint to maintain airspeed in case of an engine failure or an unrestriced climb
-     if(v_ctl_climb_setpoint>0) v_ctl_climb_setpoint += - 10.5 * dt;
-     if(v_ctl_climb_setpoint<0) v_ctl_climb_setpoint +=   10.5 * dt;
+     if(v_ctl_climb_setpoint>0) v_ctl_climb_setpoint += - 30. * dt_attidude;
+     if(v_ctl_climb_setpoint<0) v_ctl_climb_setpoint +=   30. * dt_attidude;
   }
 
 
   /* pitch pre-command */
   if (launch && (v_ctl_mode >= V_CTL_MODE_AUTO_CLIMB))
   {
-    v_ctl_auto_throttle_nominal_cruise_pitch +=  v_ctl_auto_pitch_of_airspeed_igain * (-speed_error) * dt
-                          + v_ctl_energy_diff_igain * en_dis_err * dt;
+    v_ctl_auto_throttle_nominal_cruise_pitch +=  v_ctl_auto_pitch_of_airspeed_igain * (-speed_error) * dt_attidude
+                          + v_ctl_energy_diff_igain * en_dis_err * dt_attidude;
     Bound(v_ctl_auto_throttle_nominal_cruise_pitch,H_CTL_PITCH_MIN_SETPOINT, H_CTL_PITCH_MAX_SETPOINT);
   }
   float v_ctl_pitch_of_vz =