diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index 8ace2c0b9e..d283b907fb 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -16,7 +16,7 @@
         <dl_setting MAX=".3" MIN="0." STEP="0.001" VAR="h_ctl_pitch_of_roll" shortname="pitch_of_roll" param="H_CTL_PITCH_OF_ROLL"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle" module="stabilization/stabilization_adaptive"/>
 
-        <dl_setting MAX="60" MIN="0" STEP="1" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT" unit="rad" alt_unit="deg" alt_unit_coef="0.0174533"/>
+        <dl_setting MAX="60" MIN="0" STEP="1" VAR="h_ctl_roll_max_setpoint" shortname="max_roll" param="H_CTL_ROLL_MAX_SETPOINT" unit="rad" alt_unit="deg"/>
         <dl_setting MAX="1" MIN="0" STEP="1" var="use_airspeed_ratio" values="FALSE|TRUE"/>
       </dl_settings>
 
@@ -56,8 +56,12 @@
 
       <dl_settings name="airspeed">
         <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_airspeed_setpoint" shortname="as_sp"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_pgain" shortname="as_pgain"/>
-        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_igain" shortname="as_igain"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_throttle_pgain" shortname="as_t_pgain"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_throttle_dgain" shortname="as_t_pgain"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_throttle_igain" shortname="as_t_igain"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_pitch_pgain" shortname="as_p_pgain"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_pitch_dgain" shortname="as_p_pgain"/>
+        <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_airspeed_pitch_igain" shortname="as_p_igain"/>
         <dl_setting max="40" min="5" step="0.1" var="v_ctl_auto_groundspeed_setpoint" shortname="gs_sp"/>
         <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_pgain" shortname="gs_pgain"/>
         <dl_setting max="2" min="0" step="0.01" var="v_ctl_auto_groundspeed_igain" shortname="gs_igain"/>
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
index fcc14344f1..6daedeaa1a 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
@@ -57,7 +57,7 @@ float v_ctl_auto_throttle_pgain;
 float v_ctl_auto_throttle_igain;
 float v_ctl_auto_throttle_dgain;
 float v_ctl_auto_throttle_sum_err;
-#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR 0.3
+#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR 0.4
 float v_ctl_auto_throttle_pitch_of_vz_pgain;
 float v_ctl_auto_throttle_pitch_of_vz_dgain;
 
@@ -91,14 +91,20 @@ uint8_t v_ctl_speed_mode;
 #ifdef USE_AIRSPEED
 float v_ctl_auto_airspeed_setpoint;
 float v_ctl_auto_airspeed_controlled;
-float v_ctl_auto_airspeed_pgain;
-float v_ctl_auto_airspeed_igain;
-float v_ctl_auto_airspeed_sum_err;
+float v_ctl_auto_airspeed_throttle_pgain;
+float v_ctl_auto_airspeed_throttle_dgain;
+float v_ctl_auto_airspeed_throttle_igain;
+float v_ctl_auto_airspeed_throttle_sum_err;
+float v_ctl_auto_airspeed_pitch_pgain;
+float v_ctl_auto_airspeed_pitch_dgain;
+float v_ctl_auto_airspeed_pitch_igain;
+float v_ctl_auto_airspeed_pitch_sum_err;
 float v_ctl_auto_groundspeed_setpoint;
 float v_ctl_auto_groundspeed_pgain;
 float v_ctl_auto_groundspeed_igain;
 float v_ctl_auto_groundspeed_sum_err;
-#define V_CTL_AUTO_AIRSPEED_MAX_SUM_ERR 200
+#define V_CTL_AUTO_AIRSPEED_PITCH_MAX_SUM_ERR (RadOfDeg(15.))
+#define V_CTL_AUTO_AIRSPEED_THROTTLE_MAX_SUM_ERR 0.2
 #define V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR 100
 #endif
 
@@ -139,9 +145,14 @@ void v_ctl_init( void ) {
 #ifdef USE_AIRSPEED
   v_ctl_auto_airspeed_setpoint = V_CTL_AUTO_AIRSPEED_SETPOINT;
   v_ctl_auto_airspeed_controlled = V_CTL_AUTO_AIRSPEED_SETPOINT;
-  v_ctl_auto_airspeed_pgain = V_CTL_AUTO_AIRSPEED_PGAIN;
-  v_ctl_auto_airspeed_igain = V_CTL_AUTO_AIRSPEED_IGAIN;
-  v_ctl_auto_airspeed_sum_err = 0.;
+  v_ctl_auto_airspeed_throttle_pgain = V_CTL_AUTO_AIRSPEED_THROTTLE_PGAIN;
+  v_ctl_auto_airspeed_throttle_dgain = V_CTL_AUTO_AIRSPEED_THROTTLE_DGAIN;
+  v_ctl_auto_airspeed_throttle_igain = V_CTL_AUTO_AIRSPEED_THROTTLE_IGAIN;
+  v_ctl_auto_airspeed_throttle_sum_err = 0.;
+  v_ctl_auto_airspeed_pitch_pgain = V_CTL_AUTO_AIRSPEED_PITCH_PGAIN;
+  v_ctl_auto_airspeed_pitch_dgain = V_CTL_AUTO_AIRSPEED_PITCH_DGAIN;
+  v_ctl_auto_airspeed_pitch_igain = V_CTL_AUTO_AIRSPEED_PITCH_IGAIN;
+  v_ctl_auto_airspeed_pitch_sum_err = 0.;
 
   v_ctl_auto_groundspeed_setpoint = V_CTL_AUTO_GROUNDSPEED_SETPOINT;
   v_ctl_auto_groundspeed_pgain = V_CTL_AUTO_GROUNDSPEED_PGAIN;
@@ -236,17 +247,69 @@ static inline void v_ctl_set_throttle( void ) {
 }
 
 #ifdef USE_AIRSPEED
+#define AIRSPEED_LOOP_PERIOD (1./60.)
+
+// Airspeed control loop (input: [airspeed controlled, climb_setpoint], output: [throttle controlled, pitch setpoint])
 static inline void v_ctl_set_airspeed( void ) {
+  static float last_err_vz = 0.;
+  static float last_err_as = 0.;
+
   // Bound airspeed setpoint
   Bound(v_ctl_auto_airspeed_setpoint, V_CTL_AIRSPEED_MIN, V_CTL_AIRSPEED_MAX);
 
-  // Airspeed control loop (input: airspeed controlled, output: throttle controlled)
+  // Compute errors
+  float err_vz = estimator_z_dot - v_ctl_climb_setpoint;
+  float d_err_vz = (err_vz - last_err_vz)*AIRSPEED_LOOP_PERIOD;
+  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));
+  }
+  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));
+  }
+
   float err_airspeed = v_ctl_auto_airspeed_setpoint - estimator_airspeed;
-  v_ctl_auto_airspeed_sum_err += err_airspeed;
-  BoundAbs(v_ctl_auto_airspeed_sum_err, V_CTL_AUTO_AIRSPEED_MAX_SUM_ERR);
+  float d_err_airspeed = (err_airspeed - last_err_as)*AIRSPEED_LOOP_PERIOD;
+  last_err_as = err_airspeed;
+  if (v_ctl_auto_airspeed_throttle_igain > 0.) { // ! sign
+    v_ctl_auto_airspeed_throttle_sum_err += err_airspeed*AIRSPEED_LOOP_PERIOD;
+    BoundAbs(v_ctl_auto_airspeed_throttle_sum_err, V_CTL_AUTO_AIRSPEED_THROTTLE_MAX_SUM_ERR / v_ctl_auto_airspeed_throttle_igain);
+  }
+  if (v_ctl_auto_airspeed_pitch_igain > 0.) { // ! sign
+    v_ctl_auto_airspeed_pitch_sum_err += err_airspeed*AIRSPEED_LOOP_PERIOD;
+    BoundAbs(v_ctl_auto_airspeed_pitch_sum_err, V_CTL_AUTO_AIRSPEED_PITCH_MAX_SUM_ERR / v_ctl_auto_airspeed_pitch_igain);
+  }
+
+  
+  // Reset integrators in manual or before flight
+  if (pprz_mode == PPRZ_MODE_MANUAL || launch == 0) {
+    v_ctl_auto_throttle_sum_err = 0.;
+    v_ctl_auto_pitch_sum_err = 0.;
+    v_ctl_auto_airspeed_throttle_sum_err = 0.;
+    v_ctl_auto_airspeed_pitch_sum_err = 0.;
+  }
+
+  // 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_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
+    - v_ctl_auto_airspeed_pitch_igain * v_ctl_auto_airspeed_pitch_sum_err;
+
+  // Throttle loop
   controlled_throttle = v_ctl_auto_throttle_cruise_throttle
-    + v_ctl_auto_airspeed_pgain * err_airspeed
-    + v_ctl_auto_airspeed_igain * v_ctl_auto_airspeed_sum_err;
+    + v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
+    + v_ctl_auto_throttle_pgain * err_vz
+    + v_ctl_auto_throttle_dgain * d_err_vz
+    + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
+    + v_ctl_auto_airspeed_throttle_pgain * err_airspeed
+    + v_ctl_auto_airspeed_throttle_dgain * d_err_airspeed
+    + v_ctl_auto_airspeed_throttle_igain * v_ctl_auto_airspeed_throttle_sum_err;
 
 }
 
@@ -262,13 +325,11 @@ static inline void v_ctl_set_groundspeed( void ) {
 
 void v_ctl_climb_loop ( void ) {
 
-  // Set pitch
-  v_ctl_set_pitch();
-  Bound(nav_pitch, V_CTL_AUTO_PITCH_MIN_PITCH, V_CTL_AUTO_PITCH_MAX_PITCH);
-
-  // Set throttle
   switch (v_ctl_speed_mode) {
   case V_CTL_SPEED_THROTTLE:
+    // Set pitch
+    v_ctl_set_pitch();
+    // Set throttle
     v_ctl_set_throttle();
     break;
 #ifdef USE_AIRSPEED
@@ -285,6 +346,8 @@ void v_ctl_climb_loop ( void ) {
     break;
   }
 
+  // Set Pitch output
+  Bound(nav_pitch, V_CTL_AUTO_PITCH_MIN_PITCH, V_CTL_AUTO_PITCH_MAX_PITCH);
   // Set Throttle output
   v_ctl_throttle_setpoint = TRIM_UPPRZ(controlled_throttle * MAX_PPRZ);
 
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.h b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.h
index d020a8cbb2..20cf4fa143 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.h
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.h
@@ -36,6 +36,14 @@
 #define V_CTL_SPEED_GROUNDSPEED 2
 
 extern float v_ctl_auto_pitch_dgain;
+extern float v_ctl_auto_airspeed_throttle_pgain;
+extern float v_ctl_auto_airspeed_throttle_dgain;
+extern float v_ctl_auto_airspeed_throttle_igain;
+extern float v_ctl_auto_airspeed_throttle_sum_err;
+extern float v_ctl_auto_airspeed_pitch_pgain;
+extern float v_ctl_auto_airspeed_pitch_dgain;
+extern float v_ctl_auto_airspeed_pitch_igain;
+extern float v_ctl_auto_airspeed_pitch_sum_err;
 
 extern uint8_t v_ctl_speed_mode;