diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index 43daeb0d03..1222a4640d 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
@@ -167,7 +167,7 @@
     <!-- auto pitch inner loop -->
     <define name="AUTO_PITCH_PGAIN" value="0.03"/>
     <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
-    <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
     <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
index f5c44ebede..7075b66386 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -167,7 +167,7 @@
     <!-- auto pitch inner loop -->
     <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
-    <define name="AUTO_PITCH_IGAIN" value="-0.01"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.01"/>
     <!--define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
index eb862dfdf1..76a0068842 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml
@@ -141,7 +141,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
     <define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 -->
-    <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
 
     <!-- airspeed control -->
     <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index 6eacfa3e9d..dd2fd203cf 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -136,7 +136,7 @@
 
     <!-- auto pitch inner loop -->
     <define name="AUTO_PITCH_PGAIN" value="0.06"/>
-    <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
     <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
index efba110b4b..3a873e4050 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
@@ -147,7 +147,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
     <define name="AUTO_PITCH_PGAIN" value="0.0"/>
     <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
-    <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
 
     <!-- airspeed control -->
     <define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
index 181e5d651e..eb70c3943b 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
@@ -150,7 +150,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
     <define name="AUTO_PITCH_PGAIN" value="0.0"/>
     <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
-    <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
 
     <!-- airspeed control -->
     <define name="AUTO_AIRSPEED_SETPOINT" value="17."/>
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index 2ff36d1b7d..891dfd9232 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -149,7 +149,7 @@
 
     <!-- auto pitch inner loop -->
     <define name="AUTO_PITCH_PGAIN" value="0.035000000149"/>
-    <define name="AUTO_PITCH_IGAIN" value="-0.01"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.01"/>
     <define name="AUTO_PITCH_DGAIN" value="-0"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index 5e71ce2e89..e75f960d50 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -165,7 +165,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
     <define name="AUTO_PITCH_PGAIN" value="0.038"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 -->
-    <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/>
 
     <!-- airspeed control -->
     <define name="AUTO_AIRSPEED_SETPOINT" value="16."/>
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index bf0382c94f..824211c1f2 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -265,10 +265,10 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.20" unit="rad/(m/s)"/>
     <!--define name="AUTO_PITCH_PGAIN" value="0.0"/>
     <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
-    <define name="AUTO_PITCH_IGAIN" value="-0.0"/-->
+    <define name="AUTO_PITCH_IGAIN" value="0.0"/-->
     <define name="AUTO_PITCH_PGAIN" value="0.052"/>
     <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
-    <define name="AUTO_PITCH_IGAIN" value="-0.065"/>
+    <define name="AUTO_PITCH_IGAIN" value="0.065"/>
 
 
     <!-- airspeed control -->
diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml
index 427cc3b9d3..0f80bc47a9 100644
--- a/conf/settings/tuning_ctl_adaptive.xml
+++ b/conf/settings/tuning_ctl_adaptive.xml
@@ -35,7 +35,7 @@
         <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>
 
         <dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
+        <dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
         <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="guidance/guidance_v_n"/>
 
         <dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index f6e86c820f..2ad58aee5b 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -40,7 +40,7 @@
         <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>
 
         <dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
+        <dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_pitch_igain" shortname="pitch_i" param="V_CTL_AUTO_PITCH_IGAIN"/>
         <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_dgain" shortname="pitch_d" param="V_CTL_AUTO_PITCH_DGAIN" module="guidance/guidance_v_n"/>
 
         <dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
index 899477d761..6ddd26a05d 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
@@ -138,7 +138,7 @@ void v_ctl_init( void ) {
 #ifdef V_CTL_AUTO_PITCH_PGAIN
   /* "auto pitch" inner loop parameters */
   v_ctl_auto_pitch_pgain = ABS(V_CTL_AUTO_PITCH_PGAIN);
-  v_ctl_auto_pitch_igain = V_CTL_AUTO_PITCH_IGAIN;
+  v_ctl_auto_pitch_igain = ABS(V_CTL_AUTO_PITCH_IGAIN);
   v_ctl_auto_pitch_sum_err = 0.;
 #endif
 
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
index a52c4bc8d0..ff0187dcc9 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
@@ -143,7 +143,7 @@ void v_ctl_init( void ) {
   /* "auto pitch" inner loop parameters */
   v_ctl_auto_pitch_pgain = ABS(V_CTL_AUTO_PITCH_PGAIN);
   v_ctl_auto_pitch_dgain = V_CTL_AUTO_PITCH_DGAIN;
-  v_ctl_auto_pitch_igain = V_CTL_AUTO_PITCH_IGAIN;
+  v_ctl_auto_pitch_igain = ABS(V_CTL_AUTO_PITCH_IGAIN);
   v_ctl_auto_pitch_sum_err = 0.;
 
 #ifdef USE_AIRSPEED
@@ -211,9 +211,9 @@ static inline void v_ctl_set_pitch ( void ) {
   float d_err = err - last_err;
   last_err = err;
 
-  if (v_ctl_auto_pitch_igain < 0.) {
+  if (v_ctl_auto_pitch_igain > 0.) {
     v_ctl_auto_pitch_sum_err += err*(1./60.);
-    BoundAbs(v_ctl_auto_pitch_sum_err, V_CTL_AUTO_PITCH_MAX_SUM_ERR / (-v_ctl_auto_pitch_igain));
+    BoundAbs(v_ctl_auto_pitch_sum_err, V_CTL_AUTO_PITCH_MAX_SUM_ERR / v_ctl_auto_pitch_igain);
   }
 
   // PI loop + feedforward ctl
@@ -221,7 +221,7 @@ static inline void v_ctl_set_pitch ( void ) {
     + v_ctl_auto_throttle_pitch_of_vz_pgain * v_ctl_climb_setpoint
     - v_ctl_auto_pitch_pgain * err
     + v_ctl_auto_pitch_dgain * d_err
-    + v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err;
+    - v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err;
 
 }
 
@@ -267,11 +267,11 @@ static inline void v_ctl_set_airspeed( void ) {
   last_err_vz = err_vz;
   if (v_ctl_auto_throttle_igain > 0.) {
     v_ctl_auto_throttle_sum_err += err_vz*AIRSPEED_LOOP_PERIOD;
-    BoundAbs(v_ctl_auto_throttle_sum_err, V_CTL_AUTO_THROTTLE_MAX_SUM_ERR / (v_ctl_auto_throttle_igain));
+    BoundAbs(v_ctl_auto_throttle_sum_err, V_CTL_AUTO_THROTTLE_MAX_SUM_ERR / v_ctl_auto_throttle_igain);
   }
-  if (v_ctl_auto_pitch_igain < 0.) {
+  if (v_ctl_auto_pitch_igain > 0.) {
     v_ctl_auto_pitch_sum_err += err_vz*AIRSPEED_LOOP_PERIOD;
-    BoundAbs(v_ctl_auto_pitch_sum_err, V_CTL_AUTO_PITCH_MAX_SUM_ERR / (-v_ctl_auto_pitch_igain));
+    BoundAbs(v_ctl_auto_pitch_sum_err, V_CTL_AUTO_PITCH_MAX_SUM_ERR / v_ctl_auto_pitch_igain);
   }
 
   float err_airspeed = v_ctl_auto_airspeed_setpoint - estimator_airspeed;
@@ -300,7 +300,7 @@ static inline void v_ctl_set_airspeed( void ) {
     + v_ctl_auto_throttle_pitch_of_vz_pgain * v_ctl_climb_setpoint
     - v_ctl_auto_pitch_pgain * err_vz
     + v_ctl_auto_pitch_dgain * d_err_vz
-    + v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err
+    - v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err
     - v_ctl_auto_airspeed_pitch_pgain * err_airspeed
     - v_ctl_auto_airspeed_pitch_dgain * d_err_airspeed
     - v_ctl_auto_airspeed_pitch_igain * v_ctl_auto_airspeed_pitch_sum_err;