diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_fw.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_fw.xml
index de142c63c2..ad55ce5bc2 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_fw.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_fw.xml
@@ -162,7 +162,7 @@
         <define name="AUTO_THROTTLE_LOITER_TRIM" value="1500"/>
         <define name="AUTO_THROTTLE_DASH_TRIM" value="-4000"/>
         <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.15" unit="%/(m/s)"/>
-        <define name="AUTO_THROTTLE_PGAIN" value="-0.01"/>
+        <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
         <define name="AUTO_THROTTLE_IGAIN" value="0.1"/>
         <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.05"/>
 
@@ -170,7 +170,7 @@
     </section>
 
     <section name="HORIZONTAL CONTROL" prefix="H_CTL_">
-        <define name="COURSE_PGAIN" value="-1.20000004768"/>
+        <define name="COURSE_PGAIN" value="1.20000004768"/>
         <define name="COURSE_DGAIN" value="0.3"/>
         <define name="COURSE_PRE_BANK_CORRECTION" value="0.2"/>
 
@@ -178,14 +178,14 @@
         <define name="PITCH_MAX_SETPOINT" value="0.5" unit="rad"/>
         <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="rad"/>
 
-        <define name="PITCH_PGAIN" value="-12000."/>
+        <define name="PITCH_PGAIN" value="12000."/>
         <define name="PITCH_DGAIN" value="1.5"/>
 
         <define name="ELEVATOR_OF_ROLL" value="1000."/>
 
         <define name="ROLL_SLEW" value="1."/>
 
-        <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+        <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
         <define name="ROLL_RATE_GAIN" value="0."/>
     </section>
 
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
index f04d65133f..495b646eff 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_aspirin_v1.5_overo_rc.xml
@@ -161,9 +161,9 @@
         <define name="SP_MAX_Q" value="10000"/>
         <define name="SP_MAX_R" value="10000"/>
 
-        <define name="GAIN_P" value="-400"/>
-        <define name="GAIN_Q" value="-400"/>
-        <define name="GAIN_R" value="-350"/>
+        <define name="GAIN_P" value="400"/>
+        <define name="GAIN_Q" value="400"/>
+        <define name="GAIN_R" value="350"/>
 
     </section>
 
@@ -211,22 +211,22 @@
          -->
 
         <!-- feedback -->
-        <define name="PHI_PGAIN"  value="-900"/>
-        <define name="PHI_DGAIN"  value="-200"/>
-        <define name="PHI_IGAIN"  value="-200"/>
+        <define name="PHI_PGAIN"  value="900"/>
+        <define name="PHI_DGAIN"  value="200"/>
+        <define name="PHI_IGAIN"  value="200"/>
 
-        <define name="THETA_PGAIN"  value="-900"/>
-        <define name="THETA_DGAIN"  value="-200"/>
-        <define name="THETA_IGAIN"  value="-200"/>
+        <define name="THETA_PGAIN"  value="900"/>
+        <define name="THETA_DGAIN"  value="200"/>
+        <define name="THETA_IGAIN"  value="200"/>
 
-        <define name="PSI_PGAIN"  value="-900"/>
-        <define name="PSI_DGAIN"  value="-200"/>
-        <define name="PSI_IGAIN"  value="-10"/>
+        <define name="PSI_PGAIN"  value="900"/>
+        <define name="PSI_DGAIN"  value="200"/>
+        <define name="PSI_IGAIN"  value="10"/>
 
         <!-- feedforward -->
-        <define name="PHI_DDGAIN"   value=" 200"/>
-        <define name="THETA_DDGAIN" value=" 200"/>
-        <define name="PSI_DDGAIN"   value=" 200"/>
+        <define name="PHI_DDGAIN"   value="200"/>
+        <define name="THETA_DDGAIN" value="200"/>
+        <define name="PSI_DDGAIN"   value="200"/>
 
     </section>
 
@@ -247,29 +247,21 @@
         <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
         <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
         <define name="MAX_SUM_ERR" value="2000000"/>
-        <define name="HOVER_KP"    value="-150"/>
-        <define name="HOVER_KD"    value="-80"/>
+        <define name="HOVER_KP"    value="150"/>
+        <define name="HOVER_KD"    value="80"/>
         <define name="HOVER_KI"    value="0"/>
 
-        <!--
-         <define name="HOVER_KP"     value="-150"/>
-         <define name="HOVER_KD"     value="-80"/>
-         <define name="HOVER_KI"     value="0"/>
-         -->
-
         <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
         <define name="RC_CLIMB_COEF" value ="163"/>
         <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
         <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-        <!-- <define name="INV_M" value ="0.2"/> -->
     </section>
 
 
     <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-        <define name="PGAIN" value="-100"/>
-        <define name="DGAIN" value="-100"/>
-        <define name="IGAIN" value="-0"/>
-        <define name="NGAIN" value="-0"/>
+        <define name="PGAIN" value="100"/>
+        <define name="DGAIN" value="100"/>
+        <define name="IGAIN" value="0"/>
     </section>
 
     <section name="MISC">
diff --git a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
index 27ebd41f98..3651be6689 100644
--- a/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
+++ b/conf/airframes/TestHardware/LisaL_v1.1_b2_v1.2_rc.xml
@@ -179,9 +179,9 @@
         <define name="SP_MAX_Q" value="10000"/>
         <define name="SP_MAX_R" value="10000"/>
 
-        <define name="GAIN_P" value="-400"/>
-        <define name="GAIN_Q" value="-400"/>
-        <define name="GAIN_R" value="-350"/>
+        <define name="GAIN_P" value="400"/>
+        <define name="GAIN_Q" value="400"/>
+        <define name="GAIN_R" value="350"/>
 
     </section>
 
@@ -229,22 +229,22 @@
          -->
 
         <!-- feedback -->
-        <define name="PHI_PGAIN"  value="-900"/>
-        <define name="PHI_DGAIN"  value="-200"/>
-        <define name="PHI_IGAIN"  value="-200"/>
+        <define name="PHI_PGAIN"  value="900"/>
+        <define name="PHI_DGAIN"  value="200"/>
+        <define name="PHI_IGAIN"  value="200"/>
 
-        <define name="THETA_PGAIN"  value="-900"/>
-        <define name="THETA_DGAIN"  value="-200"/>
-        <define name="THETA_IGAIN"  value="-200"/>
+        <define name="THETA_PGAIN"  value="900"/>
+        <define name="THETA_DGAIN"  value="200"/>
+        <define name="THETA_IGAIN"  value="200"/>
 
-        <define name="PSI_PGAIN"  value="-900"/>
-        <define name="PSI_DGAIN"  value="-200"/>
-        <define name="PSI_IGAIN"  value="-10"/>
+        <define name="PSI_PGAIN"  value="900"/>
+        <define name="PSI_DGAIN"  value="200"/>
+        <define name="PSI_IGAIN"  value="10"/>
 
         <!-- feedforward -->
-        <define name="PHI_DDGAIN"   value=" 200"/>
-        <define name="THETA_DDGAIN" value=" 200"/>
-        <define name="PSI_DDGAIN"   value=" 200"/>
+        <define name="PHI_DDGAIN"   value="200"/>
+        <define name="THETA_DDGAIN" value="200"/>
+        <define name="PSI_DDGAIN"   value="200"/>
 
     </section>
 
@@ -265,29 +265,21 @@
         <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
         <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
         <define name="MAX_SUM_ERR" value="2000000"/>
-        <define name="HOVER_KP"    value="-150"/>
-        <define name="HOVER_KD"    value="-80"/>
+        <define name="HOVER_KP"    value="150"/>
+        <define name="HOVER_KD"    value="80"/>
         <define name="HOVER_KI"    value="0"/>
 
-        <!--
-         <define name="HOVER_KP"     value="-150"/>
-         <define name="HOVER_KD"     value="-80"/>
-         <define name="HOVER_KI"     value="0"/>
-         -->
-
         <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
         <define name="RC_CLIMB_COEF" value ="163"/>
         <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
         <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
-        <!-- <define name="INV_M" value ="0.2"/> -->
     </section>
 
 
     <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
-        <define name="PGAIN" value="-100"/>
-        <define name="DGAIN" value="-100"/>
-        <define name="IGAIN" value="-0"/>
-        <define name="NGAIN" value="-0"/>
+        <define name="PGAIN" value="100"/>
+        <define name="DGAIN" value="100"/>
+        <define name="IGAIN" value="0"/>
     </section>
 
     <section name="MISC">