diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
index 34eeb65c71..2cb951e510 100644
--- a/conf/airframes/ENAC/fixed-wing/firestorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -165,7 +165,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.11"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <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.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index 9ba5cc75f7..ab480f59c0 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -160,7 +160,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.03"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.03"/>
     <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"/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index d81fe87664..43daeb0d03 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
@@ -165,7 +165,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.03"/>
+    <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_CLIMB_THROTTLE_INCREMENT" value="0.14"/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
index 7e0f08d981..f5c44ebede 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -165,7 +165,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <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_CLIMB_THROTTLE_INCREMENT" value="0.14"/-->
diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
index 062c0926bc..eb862dfdf1 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml
@@ -139,7 +139,7 @@
 
     <!-- Climb loop (pitch) -->
     <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_PGAIN" value="0.038"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index 00dfa6ab54..6eacfa3e9d 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -135,7 +135,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <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"/>
diff --git a/conf/airframes/ENAC/fixed-wing/minimag1.xml b/conf/airframes/ENAC/fixed-wing/minimag1.xml
index 184c6ac2f2..3cc8ff06d3 100644
--- a/conf/airframes/ENAC/fixed-wing/minimag1.xml
+++ b/conf/airframes/ENAC/fixed-wing/minimag1.xml
@@ -147,7 +147,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <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/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
index 456555f14c..f2c08433ad 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
@@ -148,7 +148,7 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" 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/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
index 34b579a2c3..5422b9349a 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
@@ -131,7 +131,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0460000000894"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.0209999997169"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.0209999997169"/>
     <define name="AUTO_PITCH_IGAIN" value="0.203999996185"/>
     <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.148000001907"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
index 2d60cf0c3e..03a7a582a7 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
@@ -129,7 +129,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.37"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <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/obsolete/slayer2.xml b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
index 9cdae49efc..5b545d2463 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
@@ -133,7 +133,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_DGAIN" value="-1"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.1"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.1"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
index f8eea7354d..c894c27b90 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
@@ -134,7 +134,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.15"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <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/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
index 6d737af982..95faccdb10 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
@@ -136,7 +136,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <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/overview.xml b/conf/airframes/ENAC/fixed-wing/overview.xml
index 82a26d654c..cd9d05c471 100644
--- a/conf/airframes/ENAC/fixed-wing/overview.xml
+++ b/conf/airframes/ENAC/fixed-wing/overview.xml
@@ -135,7 +135,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" 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/soarzi.xml b/conf/airframes/ENAC/fixed-wing/soarzi.xml
index 08622396d3..2472ada786 100644
--- a/conf/airframes/ENAC/fixed-wing/soarzi.xml
+++ b/conf/airframes/ENAC/fixed-wing/soarzi.xml
@@ -126,7 +126,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <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-1.xml b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
index bb7bd7763e..2dc022036e 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
@@ -137,7 +137,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <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 6d83409e59..efba110b4b 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
@@ -145,7 +145,7 @@
 
     <!-- Climb loop (pitch) -->
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
-    <define name="AUTO_PITCH_PGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.0"/>
     <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
     <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
index 1009755478..181e5d651e 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
@@ -148,7 +148,7 @@
 
     <!-- Climb loop (pitch) -->
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
-    <define name="AUTO_PITCH_PGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.0"/>
     <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
     <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index 517b8735a7..2ff36d1b7d 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -148,7 +148,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.035000000149"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.035000000149"/>
     <define name="AUTO_PITCH_IGAIN" value="-0.01"/>
     <define name="AUTO_PITCH_DGAIN" value="-0"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index cab24e2bc6..5e71ce2e89 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -163,7 +163,7 @@
 
     <!-- Climb loop (pitch) -->
     <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_PGAIN" value="0.038"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_DGAIN" value="-0.036"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" value="-0.0"/>
 
diff --git a/conf/airframes/LAAS/mmlaas_N1.xml b/conf/airframes/LAAS/mmlaas_N1.xml
index 1aa0bf4835..c4571f9e9e 100644
--- a/conf/airframes/LAAS/mmlaas_N1.xml
+++ b/conf/airframes/LAAS/mmlaas_N1.xml
@@ -156,7 +156,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.065"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.065"/>
     <define name="AUTO_PITCH_IGAIN" value="0.15"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/LAAS/mmlaas_N2.xml b/conf/airframes/LAAS/mmlaas_N2.xml
index bdad3a371c..2e74bf7049 100644
--- a/conf/airframes/LAAS/mmlaas_N2.xml
+++ b/conf/airframes/LAAS/mmlaas_N2.xml
@@ -152,7 +152,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.065"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.065"/>
     <define name="AUTO_PITCH_IGAIN" value="0.15"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/LAAS/mmlaas_N3.xml b/conf/airframes/LAAS/mmlaas_N3.xml
index d3830fcb2f..8260d269b7 100644
--- a/conf/airframes/LAAS/mmlaas_N3.xml
+++ b/conf/airframes/LAAS/mmlaas_N3.xml
@@ -152,7 +152,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.065"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.065"/>
     <define name="AUTO_PITCH_IGAIN" value="0.15"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/Poine/funjet42.xml b/conf/airframes/Poine/funjet42.xml
index 5c80ed5698..7647c1e3f8 100644
--- a/conf/airframes/Poine/funjet42.xml
+++ b/conf/airframes/Poine/funjet42.xml
@@ -132,7 +132,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/Poine/swift_1.xml b/conf/airframes/Poine/swift_1.xml
index 6be1556e04..f38ba28349 100644
--- a/conf/airframes/Poine/swift_1.xml
+++ b/conf/airframes/Poine/swift_1.xml
@@ -126,7 +126,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index b0c82870ec..96546c858b 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -128,7 +128,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12800000608"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.0399999991059"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.0399999991059"/>
     <define name="AUTO_PITCH_IGAIN" value="0.019999999553"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
index d576a2d42d..8fc4a92176 100644
--- a/conf/airframes/TU_Delft/MicrojetBRimu.xml
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -163,7 +163,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.202000007033"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.0399999991059"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.0399999991059"/>
     <define name="AUTO_PITCH_IGAIN" value="0.019999999553"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/delta_wing_minimal_example.xml b/conf/airframes/delta_wing_minimal_example.xml
index d486908334..b5adcf56e7 100644
--- a/conf/airframes/delta_wing_minimal_example.xml
+++ b/conf/airframes/delta_wing_minimal_example.xml
@@ -115,7 +115,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/demo_module.xml b/conf/airframes/demo_module.xml
index a5ba7ed16d..ad663b260d 100644
--- a/conf/airframes/demo_module.xml
+++ b/conf/airframes/demo_module.xml
@@ -108,7 +108,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
index 214dd9d708..9b7fe86452 100644
--- a/conf/airframes/easystar_ets_example.xml
+++ b/conf/airframes/easystar_ets_example.xml
@@ -134,7 +134,7 @@
     <define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
     <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
     <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
-    <define name="AUTO_PITCH_PGAIN" value="-0.125"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.125"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml
index b5f6ab0784..4d3eff6b68 100644
--- a/conf/airframes/easystar_example.xml
+++ b/conf/airframes/easystar_example.xml
@@ -121,7 +121,7 @@
     <define name="AUTO_THROTTLE_PGAIN" value="0.02" unit="%/(m/s)"/>
     <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
-    <define name="AUTO_PITCH_PGAIN" value="-0.125"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.125"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
diff --git a/conf/airframes/example_twog_analogimu.xml b/conf/airframes/example_twog_analogimu.xml
index f84018e8bb..7dd2238793 100644
--- a/conf/airframes/example_twog_analogimu.xml
+++ b/conf/airframes/example_twog_analogimu.xml
@@ -133,7 +133,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index 941c102987..bf0382c94f 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -263,10 +263,10 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
 
     <!-- Climb loop (pitch) -->
     <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_PGAIN" value="0.0"/>
     <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
     <define name="AUTO_PITCH_IGAIN" value="-0.0"/-->
-    <define name="AUTO_PITCH_PGAIN" value="-0.052"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.052"/>
     <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
     <define name="AUTO_PITCH_IGAIN" value="-0.065"/>
 
diff --git a/conf/airframes/funjet_cam_example.xml b/conf/airframes/funjet_cam_example.xml
index b8502403ca..4c2119ea84 100644
--- a/conf/airframes/funjet_cam_example.xml
+++ b/conf/airframes/funjet_cam_example.xml
@@ -146,7 +146,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/funjet_example.xml b/conf/airframes/funjet_example.xml
index 7c3f850342..7d84d9886e 100644
--- a/conf/airframes/funjet_example.xml
+++ b/conf/airframes/funjet_example.xml
@@ -137,7 +137,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/jsbsim.xml b/conf/airframes/jsbsim.xml
index ea79a0579d..a0900bb850 100644
--- a/conf/airframes/jsbsim.xml
+++ b/conf/airframes/jsbsim.xml
@@ -119,7 +119,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index a1c32d8a1d..9c81ae44a0 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -159,7 +159,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.5" unit="rad/(m/s)"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35" unit="rad"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35" unit="rad"/>
diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml
index 2233de6c60..a69e2332f0 100644
--- a/conf/airframes/mm/extra/press_t.xml
+++ b/conf/airframes/mm/extra/press_t.xml
@@ -125,7 +125,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml
index 8f5d55d441..bb2516274f 100644
--- a/conf/airframes/mm/extra/probe_t.xml
+++ b/conf/airframes/mm/extra/probe_t.xml
@@ -145,7 +145,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/extra/turbine_trigger.xml b/conf/airframes/mm/extra/turbine_trigger.xml
index 5de9e09cfa..ab1534728a 100644
--- a/conf/airframes/mm/extra/turbine_trigger.xml
+++ b/conf/airframes/mm/extra/turbine_trigger.xml
@@ -125,7 +125,7 @@
     <define name="AUTO_THROTTLE_PGAIN" value="0.023"/>
     <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index 79e624dc2e..f66f9ed971 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -164,7 +164,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjet43.xml b/conf/airframes/mm/fixed-wing/funjet43.xml
index bb41a4ba99..bad75fc193 100644
--- a/conf/airframes/mm/fixed-wing/funjet43.xml
+++ b/conf/airframes/mm/fixed-wing/funjet43.xml
@@ -148,7 +148,7 @@
     <define name="AUTO_THROTTLE_DASH_TRIM" value="-1200"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml
index 163199f6d2..c565719202 100644
--- a/conf/airframes/mm/fixed-wing/funjetdca.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdca.xml
@@ -158,7 +158,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml
index e3baf63fb0..a973e2d92b 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcb.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcb.xml
@@ -158,7 +158,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml
index 1ceade918b..ce05264b26 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcc.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml
@@ -158,7 +158,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml
index bae1dc469a..b3e415b87c 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth1.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml
@@ -121,7 +121,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml
index 71ba3d0991..a627605669 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth2.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml
@@ -122,7 +122,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
index 3672ccdfa3..3a1eff6726 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
@@ -120,7 +120,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
index 2fb354a74f..a879ba9e71 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
@@ -119,7 +119,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
index 220e484238..f4c3a8ae6b 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
@@ -119,7 +119,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
index f1e0b68d14..2c24b5de95 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
@@ -118,7 +118,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetgfi3.xml b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
index e6c667bbfe..d2274b8f88 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi3.xml
@@ -117,7 +117,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.03"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.03"/>
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
index e82eae31fd..3fabcb51e5 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
@@ -117,7 +117,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.03"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.03"/>
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
index d0af21fb98..fc0f6d91ac 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
@@ -119,7 +119,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
index 2a2181ff48..33bcb68f23 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
@@ -119,7 +119,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
index 68b58a882c..ab7e259cd0 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
@@ -119,7 +119,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetgfi8.xml b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
index 45bd878c9b..78f459ac1b 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi8.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi8.xml
@@ -154,7 +154,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
index 101a185652..2c42fefc98 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
@@ -119,7 +119,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetlisa.xml b/conf/airframes/mm/fixed-wing/funjetlisa.xml
index 5d7358c4b3..fbdb116858 100644
--- a/conf/airframes/mm/fixed-wing/funjetlisa.xml
+++ b/conf/airframes/mm/fixed-wing/funjetlisa.xml
@@ -133,7 +133,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetlisam.xml b/conf/airframes/mm/fixed-wing/funjetlisam.xml
index bfa7f573c3..e92cd84a6e 100644
--- a/conf/airframes/mm/fixed-wing/funjetlisam.xml
+++ b/conf/airframes/mm/fixed-wing/funjetlisam.xml
@@ -133,7 +133,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml
index 4e17e16987..4773cd625a 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm.xml
@@ -190,7 +190,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml
index ee6f9cffb4..bde533338f 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml
@@ -125,7 +125,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/fw_ins_arduimu.xml b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
index 528e63ba68..9f620479fe 100644
--- a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
+++ b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
@@ -150,7 +150,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml
index 0ce3d6f3d1..b55b5dfc6c 100644
--- a/conf/airframes/mm/fixed-wing/merlin.xml
+++ b/conf/airframes/mm/fixed-wing/merlin.xml
@@ -114,7 +114,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" value="0.08"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml
index 7b3c7e5b3e..bad55f07ff 100644
--- a/conf/airframes/mm/fixed-wing/miniwing.xml
+++ b/conf/airframes/mm/fixed-wing/miniwing.xml
@@ -117,7 +117,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index 9f92d1c60f..278acd7ea2 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -148,7 +148,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index 3cf2e6ae3e..76cc201370 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -154,7 +154,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml
index 4918462a13..fa67dc651a 100644
--- a/conf/airframes/mm/fixed-wing/twinstarmm.xml
+++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml
@@ -141,7 +141,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" 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/mm/hangar/black_one.xml b/conf/airframes/mm/hangar/black_one.xml
index 88c8a6e9c8..4e0e07c577 100644
--- a/conf/airframes/mm/hangar/black_one.xml
+++ b/conf/airframes/mm/hangar/black_one.xml
@@ -139,7 +139,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/mm/hangar/glass_one1.xml b/conf/airframes/mm/hangar/glass_one1.xml
index c0a2e5506d..cbf6b6ac19 100644
--- a/conf/airframes/mm/hangar/glass_one1.xml
+++ b/conf/airframes/mm/hangar/glass_one1.xml
@@ -128,7 +128,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/mm/hangar/glass_one2.xml b/conf/airframes/mm/hangar/glass_one2.xml
index 7c1bf15a61..b27c8e4803 100644
--- a/conf/airframes/mm/hangar/glass_one2.xml
+++ b/conf/airframes/mm/hangar/glass_one2.xml
@@ -112,7 +112,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/mm/hangar/glass_one3.xml b/conf/airframes/mm/hangar/glass_one3.xml
index 58fd53da47..851b9050f3 100644
--- a/conf/airframes/mm/hangar/glass_one3.xml
+++ b/conf/airframes/mm/hangar/glass_one3.xml
@@ -129,7 +129,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml
index aaa30ddd80..ef3f729366 100644
--- a/conf/airframes/mm/hangar/lila.xml
+++ b/conf/airframes/mm/hangar/lila.xml
@@ -131,7 +131,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.04"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.04"/>
     <define name="AUTO_PITCH_IGAIN" 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/mm/hangar/mac06a.xml b/conf/airframes/mm/hangar/mac06a.xml
index 5d3df7efb4..7da365d2da 100644
--- a/conf/airframes/mm/hangar/mac06a.xml
+++ b/conf/airframes/mm/hangar/mac06a.xml
@@ -124,7 +124,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/mm/hangar/red_one.xml b/conf/airframes/mm/hangar/red_one.xml
index bf84154ca8..e82f049333 100644
--- a/conf/airframes/mm/hangar/red_one.xml
+++ b/conf/airframes/mm/hangar/red_one.xml
@@ -138,7 +138,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml
index 8013ad2694..49e6fc9c75 100644
--- a/conf/airframes/obsolete/easystar2.xml
+++ b/conf/airframes/obsolete/easystar2.xml
@@ -122,7 +122,7 @@
     <define name="AUTO_GROUNDSPEED_SETPOINT" value="6.0" unit="m/s"/>
     <define name="AUTO_GROUNDSPEED_PGAIN" value="0.75"/>
     <define name="AUTO_GROUNDSPEED_IGAIN" value="0.25"/>
-    <define name="AUTO_PITCH_PGAIN" value="-0.125"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.125"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml
index a0f9e9eadc..bb655ba791 100644
--- a/conf/airframes/obsolete/kalscott_easystar.xml
+++ b/conf/airframes/obsolete/kalscott_easystar.xml
@@ -102,7 +102,7 @@
     <define name="AUTO_THROTTLE_PGAIN" value="0.02" unit="%/(m/s)"/>
     <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05" unit="rad/(m/s)"/>
-    <define name="AUTO_PITCH_PGAIN" value="-0.125"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.125"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="RadOfDeg(25)"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="RadOfDeg(-25)"/>
diff --git a/conf/airframes/obsolete/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml
index ab887db403..79b0daece4 100644
--- a/conf/airframes/obsolete/malolo_sim.xml
+++ b/conf/airframes/obsolete/malolo_sim.xml
@@ -128,7 +128,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml
index 0a4462f6f0..6ac052ccb9 100644
--- a/conf/airframes/obsolete/microjet5.xml
+++ b/conf/airframes/obsolete/microjet5.xml
@@ -125,7 +125,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml
index 212ba8a86f..628cde47ea 100644
--- a/conf/airframes/obsolete/microjet5_tp_auto.xml
+++ b/conf/airframes/obsolete/microjet5_tp_auto.xml
@@ -130,7 +130,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml
index f1dec996aa..a5429418f5 100644
--- a/conf/airframes/obsolete/microjet6.xml
+++ b/conf/airframes/obsolete/microjet6.xml
@@ -124,7 +124,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/obsolete/microjet_raw_makefile.xml b/conf/airframes/obsolete/microjet_raw_makefile.xml
index 924c229697..eccb995e13 100644
--- a/conf/airframes/obsolete/microjet_raw_makefile.xml
+++ b/conf/airframes/obsolete/microjet_raw_makefile.xml
@@ -130,7 +130,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/obsolete/minimag1.xml b/conf/airframes/obsolete/minimag1.xml
index 34fe990f48..35554734cc 100644
--- a/conf/airframes/obsolete/minimag1.xml
+++ b/conf/airframes/obsolete/minimag1.xml
@@ -118,7 +118,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/obsolete/minimag_fs.xml b/conf/airframes/obsolete/minimag_fs.xml
index 0cbd2af57c..4aa25d85d5 100644
--- a/conf/airframes/obsolete/minimag_fs.xml
+++ b/conf/airframes/obsolete/minimag_fs.xml
@@ -132,7 +132,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
index 06967baf08..5f17de74f1 100644
--- a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
+++ b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
@@ -117,7 +117,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.065"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.065"/>
     <define name="AUTO_PITCH_IGAIN" value="0.15"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/obsolete/slayer1.xml b/conf/airframes/obsolete/slayer1.xml
index 1743493f65..ea87e3b03f 100644
--- a/conf/airframes/obsolete/slayer1.xml
+++ b/conf/airframes/obsolete/slayer1.xml
@@ -121,7 +121,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.1"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.1"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
diff --git a/conf/airframes/obsolete/slayer3.xml b/conf/airframes/obsolete/slayer3.xml
index 6eb0d6ef18..c5e96ef9e5 100644
--- a/conf/airframes/obsolete/slayer3.xml
+++ b/conf/airframes/obsolete/slayer3.xml
@@ -121,7 +121,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.35"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.1"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.1"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
diff --git a/conf/airframes/obsolete/storm1.xml b/conf/airframes/obsolete/storm1.xml
index f4e6c2ae45..66a7d0b18d 100644
--- a/conf/airframes/obsolete/storm1.xml
+++ b/conf/airframes/obsolete/storm1.xml
@@ -148,7 +148,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/obsolete/tiny2.xml b/conf/airframes/obsolete/tiny2.xml
index 5538433052..50f6823029 100644
--- a/conf/airframes/obsolete/tiny2.xml
+++ b/conf/airframes/obsolete/tiny2.xml
@@ -117,7 +117,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/obsolete/twinstar1.xml b/conf/airframes/obsolete/twinstar1.xml
index 57e30350a8..059d460af1 100644
--- a/conf/airframes/obsolete/twinstar1.xml
+++ b/conf/airframes/obsolete/twinstar1.xml
@@ -126,7 +126,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.14"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.1"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.1"/>
     <define name="AUTO_PITCH_IGAIN" value="0.025"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.5"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.5"/>
diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml
index 0bc7420633..a9c94d1bef 100644
--- a/conf/airframes/obsolete/tyto1.xml
+++ b/conf/airframes/obsolete/tyto1.xml
@@ -135,7 +135,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0."/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/obsolete/xxx1.xml b/conf/airframes/obsolete/xxx1.xml
index 2d61245146..854df9d9c7 100644
--- a/conf/airframes/obsolete/xxx1.xml
+++ b/conf/airframes/obsolete/xxx1.xml
@@ -131,7 +131,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.0"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.05"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.05"/>
     <define name="AUTO_PITCH_IGAIN" value="0.075"/>
     <define name="AUTO_PITCH_MAX_PITCH" value="0.35"/>
     <define name="AUTO_PITCH_MIN_PITCH" value="-0.35"/>
diff --git a/conf/airframes/test_hb.xml b/conf/airframes/test_hb.xml
index 9c400a9220..8d807a24e5 100644
--- a/conf/airframes/test_hb.xml
+++ b/conf/airframes/test_hb.xml
@@ -156,7 +156,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" 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/twinstar_example.xml b/conf/airframes/twinstar_example.xml
index e38b98f112..a8400c985a 100644
--- a/conf/airframes/twinstar_example.xml
+++ b/conf/airframes/twinstar_example.xml
@@ -154,7 +154,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.06"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" 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/usb_test.xml b/conf/airframes/usb_test.xml
index d20c9154e0..ffebe301d3 100644
--- a/conf/airframes/usb_test.xml
+++ b/conf/airframes/usb_test.xml
@@ -135,7 +135,7 @@
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
     <!-- auto pitch inner loop -->
-    <define name="AUTO_PITCH_PGAIN" value="-0.03"/>
+    <define name="AUTO_PITCH_PGAIN" value="0.03"/>
     <define name="AUTO_PITCH_IGAIN" 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/settings/tuning.xml b/conf/settings/tuning.xml
index 6662fac23e..6b9f8bfe70 100644
--- a/conf/settings/tuning.xml
+++ b/conf/settings/tuning.xml
@@ -65,7 +65,7 @@
       </dl_settings>
 
       <dl_settings name="auto_pitch">
-        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
+        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
       </dl_settings>
 
diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml
index 48475a3071..427cc3b9d3 100644
--- a/conf/settings/tuning_ctl_adaptive.xml
+++ b/conf/settings/tuning_ctl_adaptive.xml
@@ -34,7 +34,7 @@
       <dl_settings name="climb">
         <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" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
+        <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" 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"/>
 
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index 291097f5eb..f6e86c820f 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -39,7 +39,7 @@
         </dl_setting>
         <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" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
+        <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" 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"/>
 
diff --git a/conf/settings/tuning_infrared.xml b/conf/settings/tuning_infrared.xml
index f0c73a1696..518fd99c0c 100644
--- a/conf/settings/tuning_infrared.xml
+++ b/conf/settings/tuning_infrared.xml
@@ -84,7 +84,7 @@
       </dl_settings>
 
       <dl_settings name="auto_pitch">
-        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
+        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
       </dl_settings>
 
diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml
index 7fcfb2df40..23bc414069 100644
--- a/conf/settings/tuning_ins.xml
+++ b/conf/settings/tuning_ins.xml
@@ -75,7 +75,7 @@
       </dl_settings>
 
       <dl_settings name="auto_pitch">
-        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
+        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
       </dl_settings>
 
diff --git a/conf/settings/tuning_ins_dcm.xml b/conf/settings/tuning_ins_dcm.xml
index 97c8b51700..4a6dc94589 100644
--- a/conf/settings/tuning_ins_dcm.xml
+++ b/conf/settings/tuning_ins_dcm.xml
@@ -78,7 +78,7 @@
       </dl_settings>
 
       <dl_settings name="auto_pitch">
-        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
+        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
       </dl_settings>
 
diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml
index d8f32b795f..e6acdff1b7 100644
--- a/conf/settings/tuning_loiter.xml
+++ b/conf/settings/tuning_loiter.xml
@@ -83,7 +83,7 @@
       </dl_settings>
 
       <dl_settings name="auto_pitch">
-        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
+        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
       </dl_settings>
 
diff --git a/conf/settings/tuning_pers.xml b/conf/settings/tuning_pers.xml
index 0e081f6998..053c62a7a4 100644
--- a/conf/settings/tuning_pers.xml
+++ b/conf/settings/tuning_pers.xml
@@ -84,7 +84,7 @@
       </dl_settings>
 
       <dl_settings name="auto_pitch">
-        <dl_setting MAX="-0.01" MIN="-0.1" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
+        <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="v_ctl_auto_pitch_pgain" shortname="pgain" param="V_CTL_AUTO_PITCH_PGAIN"/>
         <dl_setting MAX="1" MIN="0" STEP="0.01" VAR="v_ctl_auto_pitch_igain" shortname="igain" param="V_CTL_AUTO_PITCH_IGAIN"/>
       </dl_settings>
 
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
index e8b990a02c..899477d761 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
@@ -137,7 +137,7 @@ void v_ctl_init( void ) {
 
 #ifdef V_CTL_AUTO_PITCH_PGAIN
   /* "auto pitch" inner loop parameters */
-  v_ctl_auto_pitch_pgain = V_CTL_AUTO_PITCH_PGAIN;
+  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_sum_err = 0.;
 #endif
@@ -317,7 +317,7 @@ inline static void v_ctl_climb_auto_throttle_loop(void) {
   float err  = estimator_z_dot - v_ctl_climb_setpoint;
   v_ctl_auto_pitch_sum_err += err;
   BoundAbs(v_ctl_auto_pitch_sum_err, V_CTL_AUTO_PITCH_MAX_SUM_ERR);
-  v_ctl_pitch_of_vz = v_ctl_auto_pitch_pgain *
+  v_ctl_pitch_of_vz = -v_ctl_auto_pitch_pgain *
     (err + v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err);
 
   // Ground speed control loop (input: groundspeed error, output: airspeed controlled)
@@ -359,7 +359,7 @@ inline static void v_ctl_climb_auto_pitch_loop(void) {
   v_ctl_throttle_setpoint = nav_throttle_setpoint;
   v_ctl_auto_pitch_sum_err += err;
   BoundAbs(v_ctl_auto_pitch_sum_err, V_CTL_AUTO_PITCH_MAX_SUM_ERR);
-  nav_pitch = v_ctl_auto_pitch_pgain *
+  nav_pitch = -v_ctl_auto_pitch_pgain *
     (err + v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err);
   Bound(nav_pitch, V_CTL_AUTO_PITCH_MIN_PITCH, V_CTL_AUTO_PITCH_MAX_PITCH);
 }
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
index 86e3a5269d..a52c4bc8d0 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
@@ -141,7 +141,7 @@ void v_ctl_init( void ) {
   v_ctl_auto_throttle_pitch_of_vz_dgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN;
 
   /* "auto pitch" inner loop parameters */
-  v_ctl_auto_pitch_pgain = V_CTL_AUTO_PITCH_PGAIN;
+  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_sum_err = 0.;
@@ -219,7 +219,7 @@ static inline void v_ctl_set_pitch ( void ) {
   // PI loop + feedforward ctl
   nav_pitch = 0. //nav_pitch FIXME it really sucks !
     + v_ctl_auto_throttle_pitch_of_vz_pgain * v_ctl_climb_setpoint
-    + v_ctl_auto_pitch_pgain * err
+    - v_ctl_auto_pitch_pgain * err
     + v_ctl_auto_pitch_dgain * d_err
     + v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err;
 
@@ -298,7 +298,7 @@ static inline void v_ctl_set_airspeed( void ) {
   // Pitch loop
   nav_pitch = 0. //nav_pitch FIXME it really sucks !
     + v_ctl_auto_throttle_pitch_of_vz_pgain * v_ctl_climb_setpoint
-    + v_ctl_auto_pitch_pgain * err_vz
+    - 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_airspeed_pitch_pgain * err_airspeed