diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index 1222a4640d..bd247962e0 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
@@ -166,7 +166,7 @@
 
     <!-- auto pitch inner loop -->
     <define name="AUTO_PITCH_PGAIN" value="0.03"/>
-    <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_DGAIN" 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"/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
index 7075b66386..9defd25e66 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -166,7 +166,7 @@
 
     <!-- auto pitch inner loop -->
     <define name="AUTO_PITCH_PGAIN" value="0.05"/>
-    <define name="AUTO_PITCH_DGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
     <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"/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
index 76a0068842..029ac2a5af 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml
@@ -140,7 +140,7 @@
     <!-- 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_DGAIN" value="-0.036"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" value="0.0"/>
 
     <!-- airspeed control -->
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index dd2fd203cf..3272494d7b 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -137,7 +137,7 @@
     <!-- auto pitch inner loop -->
     <define name="AUTO_PITCH_PGAIN" value="0.06"/>
     <define name="AUTO_PITCH_IGAIN" value="0.0"/>
-    <define name="AUTO_PITCH_DGAIN" 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 3a873e4050..b10aa94644 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
@@ -146,7 +146,7 @@
     <!-- 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_DGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
     <define name="AUTO_PITCH_IGAIN" value="0.0"/>
 
     <!-- airspeed control -->
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
index eb70c3943b..06dbb849fd 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
@@ -149,7 +149,7 @@
     <!-- 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_DGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
     <define name="AUTO_PITCH_IGAIN" value="0.0"/>
 
     <!-- airspeed control -->
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index 891dfd9232..c478048637 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -150,7 +150,7 @@
     <!-- auto pitch inner loop -->
     <define name="AUTO_PITCH_PGAIN" value="0.035000000149"/>
     <define name="AUTO_PITCH_IGAIN" value="0.01"/>
-    <define name="AUTO_PITCH_DGAIN" value="-0"/>
+    <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"/>
     <define name="AUTO_PITCH_CLIMB_THROTTLE_INCREMENT" value="0.15"/>
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index e75f960d50..d410fb0b4e 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -164,7 +164,7 @@
     <!-- 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_DGAIN" value="-0.036"/> <!-- -0.03 -->
+    <define name="AUTO_PITCH_DGAIN" value="0.036"/> <!-- -0.03 -->
     <define name="AUTO_PITCH_IGAIN" value="0.0"/>
 
     <!-- airspeed control -->
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index 824211c1f2..40728091c7 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -264,10 +264,10 @@ 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_DGAIN" 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_DGAIN" value="-0.0"/>
+    <define name="AUTO_PITCH_DGAIN" value="0.0"/>
     <define name="AUTO_PITCH_IGAIN" value="0.065"/>
 
 
diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml
index 0f80bc47a9..a7bc810b5f 100644
--- a/conf/settings/tuning_ctl_adaptive.xml
+++ b/conf/settings/tuning_ctl_adaptive.xml
@@ -36,7 +36,7 @@
 
         <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="0.1" 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_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"/>
         <dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index 2ad58aee5b..319c7ed3c3 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -41,7 +41,7 @@
 
         <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="0.1" 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_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"/>
         <dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
index ff0187dcc9..df85bf4868 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
@@ -142,7 +142,7 @@ 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_dgain = ABS(V_CTL_AUTO_PITCH_DGAIN);
   v_ctl_auto_pitch_igain = ABS(V_CTL_AUTO_PITCH_IGAIN);
   v_ctl_auto_pitch_sum_err = 0.;
 
@@ -220,7 +220,7 @@ static inline void v_ctl_set_pitch ( void ) {
   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_dgain * d_err
+    - v_ctl_auto_pitch_dgain * d_err
     - v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err;
 
 }
@@ -299,7 +299,7 @@ static inline void v_ctl_set_airspeed( void ) {
   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_dgain * d_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
     - v_ctl_auto_airspeed_pitch_dgain * d_err_airspeed