diff --git a/conf/airframes/CDW/ChimuLisaFw.xml b/conf/airframes/CDW/ChimuLisaFw.xml
index b0c76cf8cf..41182a1692 100644
--- a/conf/airframes/CDW/ChimuLisaFw.xml
+++ b/conf/airframes/CDW/ChimuLisaFw.xml
@@ -101,7 +101,7 @@
 
     <define name="ROLL_SLEW" value="0.1"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/airframes/CDW/ChimuTinyFw.xml b/conf/airframes/CDW/ChimuTinyFw.xml
index c475bd5943..27d622c172 100644
--- a/conf/airframes/CDW/ChimuTinyFw.xml
+++ b/conf/airframes/CDW/ChimuTinyFw.xml
@@ -125,7 +125,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1000."/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-11500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="11500"/>
     <define name="ROLL_RATE_GAIN" value="-600."/>
   </section>
 
diff --git a/conf/airframes/CDW/ChimuTinyFwSpi.xml b/conf/airframes/CDW/ChimuTinyFwSpi.xml
index 04a420de9f..508f7ca967 100644
--- a/conf/airframes/CDW/ChimuTinyFwSpi.xml
+++ b/conf/airframes/CDW/ChimuTinyFwSpi.xml
@@ -125,7 +125,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1000."/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-11500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="11500"/>
     <define name="ROLL_RATE_GAIN" value="-600."/>
   </section>
 
diff --git a/conf/airframes/ENAC/fixed-wing/firestorm.xml b/conf/airframes/ENAC/fixed-wing/firestorm.xml
index 4c8319ad41..fac6de3035 100644
--- a/conf/airframes/ENAC/fixed-wing/firestorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/firestorm.xml
@@ -186,7 +186,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2000."/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-2600"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="2600"/>
     <define name="ROLL_RATE_GAIN" value="-850"/>
 
     <define name="ROLL_KFF" value="-500"/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2.xml b/conf/airframes/ENAC/fixed-wing/funjet2.xml
index 80f2bb3d30..567fa816bb 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2.xml
@@ -175,7 +175,7 @@
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
     <define name="ROLL_RATE_GAIN" value="-3000."/>
 
     <define name="PITCH_PGAIN" value="20000."/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
index 4b7d76e24d..1b1e9c35f8 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_nc.xml
@@ -195,7 +195,7 @@
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
     <define name="ROLL_RATE_GAIN" value="-3000."/>
     <define name="ROLL_IGAIN" value="-500"/>
     <define name="ROLL_KFFA" value="-500"/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
index ebe980a382..04ad7760dc 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -195,7 +195,7 @@
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
     <define name="ROLL_RATE_GAIN" value="-3000."/>
     <define name="ROLL_IGAIN" value="-0"/>
     <define name="ROLL_KFFA" value="0"/>
diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
index 963edfc289..a4235cb1f2 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml
@@ -172,7 +172,7 @@
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="6000."/>
     <define name="ROLL_RATE_GAIN" value="-1000."/>
     <define name="ROLL_IGAIN" value="-400."/>
     <define name="ROLL_KFFA" value="0"/>
diff --git a/conf/airframes/ENAC/fixed-wing/merlin.xml b/conf/airframes/ENAC/fixed-wing/merlin.xml
index 2d63ecf0ac..a57da73693 100644
--- a/conf/airframes/ENAC/fixed-wing/merlin.xml
+++ b/conf/airframes/ENAC/fixed-wing/merlin.xml
@@ -156,7 +156,7 @@
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="5900"/>
     <define name="ROLL_RATE_GAIN" value="-2900"/>
     <define name="ROLL_IGAIN" value="-500"/>
     <define name="ROLL_KFFA" value="-500"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
index 9441cd47f3..07346101f5 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/drops.xml
@@ -170,7 +170,7 @@ on<!DOCTYPE airframe SYSTEM "airframe.dtd">
 
     <define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="5847.45800781"/>
     <define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
 
     <define name="ROLL_KFF" value="-500"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
index a2c96eadc1..b5bd178ecb 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/funjet1.xml
@@ -153,7 +153,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-8055.55615234"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="8055.55615234"/>
     <define name="ROLL_RATE_GAIN" value="-1527.7779541"/>
 
     <define name="ROLL_KFF" value="-500"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
index e7d9d40a28..b2e23ff21b 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/malolo_sim.xml
@@ -150,7 +150,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-20000"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="20000"/>
     <define name="ROLL_RATE_GAIN" value="0"/>
 
     <define name="ROLL_KFFP" value="-500"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
index d6120dc200..523147cf05 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/slayer2.xml
@@ -156,7 +156,7 @@
     <define name="ELEVATOR_OF_ROLL" value="1000"/>
 
     <!--  roll rate loop -->
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
 
     <define name="COURSE_SLEW_INCREMENT" value="RadOfDeg(3)"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
index 06b252313e..35f6f3372d 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
@@ -155,7 +155,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2000."/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-12000"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="12000"/>
     <define name="ROLL_RATE_GAIN" value="-2500"/>
 
     <define name="ROLL_KFF" value="-500"/>
diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
index fbf223ffc3..ae81d5a26c 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/spocII.xml
@@ -157,7 +157,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-12584.7460938"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="12584.7460938"/>
     <define name="ROLL_RATE_GAIN" value="-1779.66101074"/>
 
     <define name="ROLL_KFF" value="-500"/>
diff --git a/conf/airframes/ENAC/fixed-wing/overview.xml b/conf/airframes/ENAC/fixed-wing/overview.xml
index bc32499a67..3d6cf763e1 100644
--- a/conf/airframes/ENAC/fixed-wing/overview.xml
+++ b/conf/airframes/ENAC/fixed-wing/overview.xml
@@ -150,7 +150,7 @@
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-9000."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="9000."/>
     <define name="ROLL_RATE_GAIN" value="-3000."/>
 
     <define name="PITCH_PGAIN" value="9000."/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
index 082917ba77..f5831d5f7a 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-1.xml
@@ -158,7 +158,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-8500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="8500"/>
     <define name="ROLL_RATE_GAIN" value="-2700"/>
 
     <define name="ROLL_KFF" value="-500"/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
index a556e7b5cf..054860b627 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
@@ -180,7 +180,7 @@
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-8500."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="8500."/>
     <define name="ROLL_RATE_GAIN" value="-2400."/>
     <define name="ROLL_IGAIN" value="-0."/>
     <define name="ROLL_KFFA" value="0"/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
index 8fc35ef305..0e871955f6 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
@@ -183,7 +183,7 @@
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-8500."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="8500."/>
     <define name="ROLL_RATE_GAIN" value="-2400."/>
     <define name="ROLL_IGAIN" value="-0."/>
     <define name="ROLL_KFFA" value="0"/>
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index f6daae5b94..f6afa20cea 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -170,7 +170,7 @@
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-3553.89208984"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="3553.89208984"/>
     <define name="ROLL_RATE_GAIN" value="0."/>
     <define name="ROLL_IGAIN" value="-500"/>
     <define name="ROLL_KFFA" value="-500"/>
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index d262f38e7a..f5906b258b 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -196,7 +196,7 @@
     <define name="PITCH_MAX_SETPOINT" value="0.5" unit="radians"/>
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-3800."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="3800."/>
     <define name="ROLL_RATE_GAIN" value="-500."/>
     <define name="ROLL_IGAIN" value="-150."/>
     <define name="ROLL_KFFA" value="0"/>
diff --git a/conf/airframes/LAAS/mmlaas_N1.xml b/conf/airframes/LAAS/mmlaas_N1.xml
index facc5a4e04..24b58f81ea 100644
--- a/conf/airframes/LAAS/mmlaas_N1.xml
+++ b/conf/airframes/LAAS/mmlaas_N1.xml
@@ -172,7 +172,7 @@
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="10000"/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/LAAS/mmlaas_N2.xml b/conf/airframes/LAAS/mmlaas_N2.xml
index fb9b688db7..316967dfbe 100644
--- a/conf/airframes/LAAS/mmlaas_N2.xml
+++ b/conf/airframes/LAAS/mmlaas_N2.xml
@@ -168,7 +168,7 @@
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="10000"/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/LAAS/mmlaas_N3.xml b/conf/airframes/LAAS/mmlaas_N3.xml
index 9486ee7d63..098d28889e 100644
--- a/conf/airframes/LAAS/mmlaas_N3.xml
+++ b/conf/airframes/LAAS/mmlaas_N3.xml
@@ -168,7 +168,7 @@
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-10000"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="10000"/>
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="PITCH_PGAIN" value="12000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
index c70cd236bd..cccc0d879e 100644
--- a/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
+++ b/conf/airframes/PPZUAV/fixed-wing/ppzimu_tiny.xml
@@ -164,7 +164,7 @@
 
     <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/Poine/easy_glider1.xml b/conf/airframes/Poine/easy_glider1.xml
index 4f8cc53b3c..dc5dfdc98d 100644
--- a/conf/airframes/Poine/easy_glider1.xml
+++ b/conf/airframes/Poine/easy_glider1.xml
@@ -129,7 +129,7 @@
 
     <define name="ROLL_SLEW" value="0.1"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
    </section>
 
diff --git a/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml b/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
index f5a306cda6..5b39490a31 100644
--- a/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
+++ b/conf/airframes/TU_Delft/EasyStartPanTiltCHIMU_SPI.xml
@@ -126,7 +126,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1000."/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-11500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="11500"/>
     <define name="ROLL_RATE_GAIN" value="-600."/>
   </section>
 
diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index c2043dd7c3..f2648ca0c9 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -149,7 +149,7 @@
     <define name="PITCH_DGAIN" value="1.7254999876"/>
     <define name="ELEVATOR_OF_ROLL" value="1250."/>
     <define name="ROLL_RATE_GAIN" value="-112.781997681"/>
-    <define name="ROLL_ATTITUDE_GAIN" value="-4957.62695312"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="4957.62695312"/>
 
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
index 6f627059c2..4905cf11a6 100644
--- a/conf/airframes/TU_Delft/MicrojetBRimu.xml
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -185,7 +185,7 @@
     <define name="PITCH_DGAIN" value="1.7254999876"/>
     <define name="ELEVATOR_OF_ROLL" value="1250."/>
     <define name="ROLL_RATE_GAIN" value="-625."/>
-    <define name="ROLL_ATTITUDE_GAIN" value="-4464.28613281"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="4464.28613281"/>
 
     <!--  roll rate loop -->
     <define name="ROLL_RATE_MODE_DEFAULT" value="1"/>
diff --git a/conf/airframes/TU_Delft/MicrojetCDW.xml b/conf/airframes/TU_Delft/MicrojetCDW.xml
index ca41413094..e1f73ab006 100644
--- a/conf/airframes/TU_Delft/MicrojetCDW.xml
+++ b/conf/airframes/TU_Delft/MicrojetCDW.xml
@@ -160,7 +160,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1200."/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-6000."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="6000."/>
     <define name="ROLL_RATE_GAIN" value="-600."/>
 
     <define name="ROLL_SLEW" value="0.02"/> <!-- Maximal roll angle change per 1/60 of second: 0.02 rad/loop * 180/pi * 60 loop/sec = 60 deg/sec -->
diff --git a/conf/airframes/TU_Delft/Trip50A.xml b/conf/airframes/TU_Delft/Trip50A.xml
index 2e4043e188..cac291a064 100644
--- a/conf/airframes/TU_Delft/Trip50A.xml
+++ b/conf/airframes/TU_Delft/Trip50A.xml
@@ -174,7 +174,7 @@
 
     <define name="ROLL_SLEW" value="0.30"/> <!-- Maximal roll angle change per 1/60 of second -->
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7000."/> <!-- Roll Angle PD control -->
+    <define name="ROLL_ATTITUDE_GAIN" value="7000."/> <!-- Roll Angle PD control -->
     <define name="ROLL_RATE_GAIN" value="-2752.29394531"/>
 
 <!--
diff --git a/conf/airframes/TU_Delft/skywalker.xml b/conf/airframes/TU_Delft/skywalker.xml
index b0c75e01cc..d7b4b62d53 100644
--- a/conf/airframes/TU_Delft/skywalker.xml
+++ b/conf/airframes/TU_Delft/skywalker.xml
@@ -162,7 +162,7 @@
 
     <define name="ROLL_SLEW" value="1."/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-11718.75"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="11718.75"/>
     <define name="ROLL_RATE_GAIN" value="-820.312011719"/>
   </section>
 
diff --git a/conf/airframes/TU_Delft/skywalkerfiber.xml b/conf/airframes/TU_Delft/skywalkerfiber.xml
index 7a71a09787..3db73cff0d 100644
--- a/conf/airframes/TU_Delft/skywalkerfiber.xml
+++ b/conf/airframes/TU_Delft/skywalkerfiber.xml
@@ -290,7 +290,7 @@
 
     <define name="ROLL_SLEW" value="1."/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-11718.75"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="11718.75"/>
     <define name="ROLL_RATE_GAIN" value="-820.312011719"/>
   </section>
 
diff --git a/conf/airframes/demo_module.xml b/conf/airframes/demo_module.xml
index cc4d06cb24..3eadf26149 100644
--- a/conf/airframes/demo_module.xml
+++ b/conf/airframes/demo_module.xml
@@ -127,7 +127,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/airframes/easy_glider_example.xml b/conf/airframes/easy_glider_example.xml
index e51031d6fc..08e779bf16 100644
--- a/conf/airframes/easy_glider_example.xml
+++ b/conf/airframes/easy_glider_example.xml
@@ -122,7 +122,7 @@
 
     <define name="ROLL_SLEW" value="0.1"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
    </section>
 
diff --git a/conf/airframes/easystar_ets_example.xml b/conf/airframes/easystar_ets_example.xml
index 432522a5e5..6cc9315264 100644
--- a/conf/airframes/easystar_ets_example.xml
+++ b/conf/airframes/easystar_ets_example.xml
@@ -149,7 +149,7 @@
     <define name="PITCH_PGAIN" value="20000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
-    <define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7400"/>
     <define name="ROLL_RATE_GAIN" value="-200"/>
   </section>
 
diff --git a/conf/airframes/easystar_example.xml b/conf/airframes/easystar_example.xml
index 061479b05b..5bd8803d57 100644
--- a/conf/airframes/easystar_example.xml
+++ b/conf/airframes/easystar_example.xml
@@ -136,7 +136,7 @@
     <define name="PITCH_PGAIN" value="20000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
-    <define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7400"/>
     <define name="ROLL_RATE_GAIN" value="-200"/>
   </section>
 
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index 6db6cdb94c..a6d24f5944 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -311,7 +311,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <define name="PITCH_MIN_SETPOINT" value="RadOfDeg(-30)" unit="radians"/>
 
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500."/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
 
     <!-- only for stabilization adaptive -->
diff --git a/conf/airframes/jsbsim.xml b/conf/airframes/jsbsim.xml
index ab7be2e7b9..81e4003c60 100644
--- a/conf/airframes/jsbsim.xml
+++ b/conf/airframes/jsbsim.xml
@@ -140,7 +140,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/airframes/mentor_tum.xml b/conf/airframes/mentor_tum.xml
index 8a3974b083..ae678e76c3 100644
--- a/conf/airframes/mentor_tum.xml
+++ b/conf/airframes/mentor_tum.xml
@@ -180,7 +180,7 @@
     <define name="AILERON_OF_THROTTLE" value="0.0"/>
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500."/>
     <!-- <define name="ROLL_RATE_GAIN" value="-1500"/> -->
   </section>
 
diff --git a/conf/airframes/microjet_example.xml b/conf/airframes/microjet_example.xml
index 8482756224..4518244d1b 100644
--- a/conf/airframes/microjet_example.xml
+++ b/conf/airframes/microjet_example.xml
@@ -137,7 +137,7 @@
 
     <define name="ROLL_SLEW" value="0.1"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/airframes/mm/extra/press_t.xml b/conf/airframes/mm/extra/press_t.xml
index c9a14d8005..570a4a6d32 100644
--- a/conf/airframes/mm/extra/press_t.xml
+++ b/conf/airframes/mm/extra/press_t.xml
@@ -147,7 +147,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/extra/probe_t.xml b/conf/airframes/mm/extra/probe_t.xml
index 48cf3ae2ed..d65fb38942 100644
--- a/conf/airframes/mm/extra/probe_t.xml
+++ b/conf/airframes/mm/extra/probe_t.xml
@@ -167,7 +167,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/drops.xml b/conf/airframes/mm/fixed-wing/drops.xml
index 0121cf31da..b01baa02cc 100644
--- a/conf/airframes/mm/fixed-wing/drops.xml
+++ b/conf/airframes/mm/fixed-wing/drops.xml
@@ -187,7 +187,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1520.73706055"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-5847.45800781"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="5847.45800781"/>
     <define name="ROLL_RATE_GAIN" value="-2923.72900391"/>
     <define name="ROLL_IGAIN" value="-5000"/>
 
diff --git a/conf/airframes/mm/fixed-wing/funjetdca.xml b/conf/airframes/mm/fixed-wing/funjetdca.xml
index 2536fd868b..4bc34a6746 100644
--- a/conf/airframes/mm/fixed-wing/funjetdca.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdca.xml
@@ -180,7 +180,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetdcb.xml b/conf/airframes/mm/fixed-wing/funjetdcb.xml
index f5faf36f6a..07e3a5d4b4 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcb.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcb.xml
@@ -180,7 +180,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetdcc.xml b/conf/airframes/mm/fixed-wing/funjetdcc.xml
index 096f9b3900..c0d65cae13 100644
--- a/conf/airframes/mm/fixed-wing/funjetdcc.xml
+++ b/conf/airframes/mm/fixed-wing/funjetdcc.xml
@@ -180,7 +180,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjeteth1.xml b/conf/airframes/mm/fixed-wing/funjeteth1.xml
index 1dde795d8e..a5ba5038a3 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth1.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth1.xml
@@ -143,7 +143,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1200"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjeteth2.xml b/conf/airframes/mm/fixed-wing/funjeteth2.xml
index 7a128600ea..acbb82f350 100644
--- a/conf/airframes/mm/fixed-wing/funjeteth2.xml
+++ b/conf/airframes/mm/fixed-wing/funjeteth2.xml
@@ -144,7 +144,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1200"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi1.xml b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
index 195f480abb..5951cb5c40 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi1.xml
@@ -142,7 +142,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi2.xml b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
index ec665d14da..656644677f 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi2.xml
@@ -141,7 +141,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetfmi3.xml b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
index bfae34b28a..581af080c9 100644
--- a/conf/airframes/mm/fixed-wing/funjetfmi3.xml
+++ b/conf/airframes/mm/fixed-wing/funjetfmi3.xml
@@ -141,7 +141,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi1.xml b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
index 369e73adf6..2f45458877 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi1.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi1.xml
@@ -139,7 +139,7 @@
     <define name="PITCH_DGAIN" value="0.4"/>
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi4.xml b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
index 7dfd7aa831..f98494a2a9 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi4.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi4.xml
@@ -139,7 +139,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1200"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi5.xml b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
index 3b81667b88..e85e38eb4d 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi5.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi5.xml
@@ -141,7 +141,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi6.xml b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
index 5b2ca83baf..31cc4d5420 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi6.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi6.xml
@@ -141,7 +141,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi7.xml b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
index 89e8c12cfc..4b915dbb14 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi7.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi7.xml
@@ -141,7 +141,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetgfi9.xml b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
index fcbb7660d7..92fdaeb41a 100644
--- a/conf/airframes/mm/fixed-wing/funjetgfi9.xml
+++ b/conf/airframes/mm/fixed-wing/funjetgfi9.xml
@@ -141,7 +141,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetmm.xml b/conf/airframes/mm/fixed-wing/funjetmm.xml
index 434038ff74..94a2f33809 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm.xml
@@ -212,7 +212,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/funjetmm2.xml b/conf/airframes/mm/fixed-wing/funjetmm2.xml
index cba293b4c0..cfcfd82b6b 100644
--- a/conf/airframes/mm/fixed-wing/funjetmm2.xml
+++ b/conf/airframes/mm/fixed-wing/funjetmm2.xml
@@ -147,7 +147,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
index 65c4c8c1ca..c45f7da8a3 100644
--- a/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
+++ b/conf/airframes/mm/fixed-wing/fw_ins_arduimu.xml
@@ -172,7 +172,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2400"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/merlin.xml b/conf/airframes/mm/fixed-wing/merlin.xml
index 13de047953..cf20b20829 100644
--- a/conf/airframes/mm/fixed-wing/merlin.xml
+++ b/conf/airframes/mm/fixed-wing/merlin.xml
@@ -135,7 +135,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1500"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="5900"/>
     <define name="ROLL_RATE_GAIN" value="-2900"/-->
   </section>
 
diff --git a/conf/airframes/mm/fixed-wing/miniwing.xml b/conf/airframes/mm/fixed-wing/miniwing.xml
index 8ad3784b85..b1eec22815 100644
--- a/conf/airframes/mm/fixed-wing/miniwing.xml
+++ b/conf/airframes/mm/fixed-wing/miniwing.xml
@@ -139,7 +139,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1200"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/-->
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/slowfast.xml b/conf/airframes/mm/fixed-wing/slowfast.xml
index 028ce35155..b7665e0968 100644
--- a/conf/airframes/mm/fixed-wing/slowfast.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast.xml
@@ -170,7 +170,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/slowfast2.xml b/conf/airframes/mm/fixed-wing/slowfast2.xml
index 6cda68e172..93e3f0d642 100644
--- a/conf/airframes/mm/fixed-wing/slowfast2.xml
+++ b/conf/airframes/mm/fixed-wing/slowfast2.xml
@@ -186,7 +186,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
 
   </section>
diff --git a/conf/airframes/mm/fixed-wing/twinstarmm.xml b/conf/airframes/mm/fixed-wing/twinstarmm.xml
index ac73e64610..7288bfabff 100644
--- a/conf/airframes/mm/fixed-wing/twinstarmm.xml
+++ b/conf/airframes/mm/fixed-wing/twinstarmm.xml
@@ -164,7 +164,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1500"/>
 
-    <!--define name="ROLL_ATTITUDE_GAIN" value="-5900"/>
+    <!--define name="ROLL_ATTITUDE_GAIN" value="5900"/>
     <define name="ROLL_RATE_GAIN" value="-2900"/-->
  </section>
 
diff --git a/conf/airframes/mm/hangar/lila.xml b/conf/airframes/mm/hangar/lila.xml
index ca5ffbff2a..8b46c13fa4 100644
--- a/conf/airframes/mm/hangar/lila.xml
+++ b/conf/airframes/mm/hangar/lila.xml
@@ -152,7 +152,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1100"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <!--define name="ROLL_RATE_GAIN" value="-1500"/-->
 
     <define name="ROLL_KFF" value="-500"/>
diff --git a/conf/airframes/obsolete/easystar2.xml b/conf/airframes/obsolete/easystar2.xml
index 7d133418bb..eecb33e7a1 100644
--- a/conf/airframes/obsolete/easystar2.xml
+++ b/conf/airframes/obsolete/easystar2.xml
@@ -137,7 +137,7 @@
     <define name="PITCH_PGAIN" value="20000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
-    <define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7400"/>
     <define name="ROLL_RATE_GAIN" value="-200"/>
   </section>
 
diff --git a/conf/airframes/obsolete/hitl_usb.xml b/conf/airframes/obsolete/hitl_usb.xml
index 2e7e1f2b69..059ff0ebcc 100644
--- a/conf/airframes/obsolete/hitl_usb.xml
+++ b/conf/airframes/obsolete/hitl_usb.xml
@@ -81,7 +81,7 @@
 
 	<define name="ROLL_SLEW" value="0.1"/>
 
-	<define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+	<define name="ROLL_ATTITUDE_GAIN" value="7500"/>
 	<define name="ROLL_RATE_GAIN" value="-1500"/>
    </section>
 
diff --git a/conf/airframes/obsolete/kalscott_easystar.xml b/conf/airframes/obsolete/kalscott_easystar.xml
index 0a82b52c55..587147e00e 100644
--- a/conf/airframes/obsolete/kalscott_easystar.xml
+++ b/conf/airframes/obsolete/kalscott_easystar.xml
@@ -117,7 +117,7 @@
     <define name="PITCH_PGAIN" value="20000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
-    <define name="ROLL_ATTITUDE_GAIN" value="-7400"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7400"/>
     <define name="ROLL_RATE_GAIN" value="-200"/>
   </section>
 
diff --git a/conf/airframes/obsolete/malolo_sim.xml b/conf/airframes/obsolete/malolo_sim.xml
index f891e6ca88..c9e8582bc6 100644
--- a/conf/airframes/obsolete/malolo_sim.xml
+++ b/conf/airframes/obsolete/malolo_sim.xml
@@ -149,7 +149,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/airframes/obsolete/microjet5.xml b/conf/airframes/obsolete/microjet5.xml
index e8a86a4d7c..a1e076f5df 100644
--- a/conf/airframes/obsolete/microjet5.xml
+++ b/conf/airframes/obsolete/microjet5.xml
@@ -146,7 +146,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/airframes/obsolete/microjet5_tp_auto.xml b/conf/airframes/obsolete/microjet5_tp_auto.xml
index 4abc153cfc..f9bc2ac131 100644
--- a/conf/airframes/obsolete/microjet5_tp_auto.xml
+++ b/conf/airframes/obsolete/microjet5_tp_auto.xml
@@ -102,7 +102,7 @@
     <define name="PITCH_MIN_SETPOINT" value="-0.5" unit="radians"/>
 
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-1500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="1500"/>
     <define name="ROLL_RATE_GAIN" value="-10"/>
     <define name="PITCH_PGAIN" value="9000."/>
     <define name="PITCH_DGAIN" value="1.5"/>
diff --git a/conf/airframes/obsolete/microjetI.xml b/conf/airframes/obsolete/microjetI.xml
index c0b692091b..70231f2f8e 100644
--- a/conf/airframes/obsolete/microjetI.xml
+++ b/conf/airframes/obsolete/microjetI.xml
@@ -150,7 +150,7 @@
 
     <define name="ROLL_SLEW" value="0.1"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/airframes/obsolete/microjetII.xml b/conf/airframes/obsolete/microjetII.xml
index 1125008bce..3ca3c05154 100644
--- a/conf/airframes/obsolete/microjetII.xml
+++ b/conf/airframes/obsolete/microjetII.xml
@@ -150,7 +150,7 @@
 
     <define name="ROLL_SLEW" value="0.1"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/airframes/obsolete/microjetIII.xml b/conf/airframes/obsolete/microjetIII.xml
index 7698de3bdb..8f13bc1ecc 100644
--- a/conf/airframes/obsolete/microjetIII.xml
+++ b/conf/airframes/obsolete/microjetIII.xml
@@ -138,7 +138,7 @@
 
     <define name="ROLL_SLEW" value="0.1"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
    </section>
 
diff --git a/conf/airframes/obsolete/microjet_raw_makefile.xml b/conf/airframes/obsolete/microjet_raw_makefile.xml
index d35737d03f..3661d53684 100644
--- a/conf/airframes/obsolete/microjet_raw_makefile.xml
+++ b/conf/airframes/obsolete/microjet_raw_makefile.xml
@@ -151,7 +151,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="2500"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/airframes/obsolete/slayerJH.xml b/conf/airframes/obsolete/slayerJH.xml
index d621d876a5..0305172693 100644
--- a/conf/airframes/obsolete/slayerJH.xml
+++ b/conf/airframes/obsolete/slayerJH.xml
@@ -131,7 +131,7 @@
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="3213.20800781"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-5000."/>
+    <define name="ROLL_ATTITUDE_GAIN" value="5000."/>
     <define name="ROLL_RATE_GAIN" value="-495.282989502"/>
   </section>
 
diff --git a/conf/airframes/obsolete/slicer1.xml b/conf/airframes/obsolete/slicer1.xml
index fe94190901..80e59d0b61 100644
--- a/conf/airframes/obsolete/slicer1.xml
+++ b/conf/airframes/obsolete/slicer1.xml
@@ -146,7 +146,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
    </section>
 
diff --git a/conf/airframes/obsolete/slicer2.xml b/conf/airframes/obsolete/slicer2.xml
index 8d6708a445..6932071e1e 100644
--- a/conf/airframes/obsolete/slicer2.xml
+++ b/conf/airframes/obsolete/slicer2.xml
@@ -140,7 +140,7 @@
 
     <define name="ELEVATOR_OF_ROLL" value="1250"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
    </section>
 
diff --git a/conf/airframes/obsolete/spirit.xml b/conf/airframes/obsolete/spirit.xml
index 3a862ed732..b5abb80e81 100644
--- a/conf/airframes/obsolete/spirit.xml
+++ b/conf/airframes/obsolete/spirit.xml
@@ -147,7 +147,7 @@
 
     <define name="ROLL_SLEW" value="0.1"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-8669.72460938"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="8669.72460938"/>
     <define name="ROLL_RATE_GAIN" value="-963.302978516"/>
    </section>
 
diff --git a/conf/airframes/obsolete/spirit_proto.xml b/conf/airframes/obsolete/spirit_proto.xml
index 3547045d72..ba5cf1830e 100644
--- a/conf/airframes/obsolete/spirit_proto.xml
+++ b/conf/airframes/obsolete/spirit_proto.xml
@@ -136,7 +136,7 @@
 
     <define name="ROLL_SLEW" value="0.1"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-8669.72460938"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="8669.72460938"/>
     <define name="ROLL_RATE_GAIN" value="-963.302978516"/>
    </section>
 
diff --git a/conf/airframes/obsolete/tiny_hitl.xml b/conf/airframes/obsolete/tiny_hitl.xml
index ffb0c3bd6a..c011a61ad7 100644
--- a/conf/airframes/obsolete/tiny_hitl.xml
+++ b/conf/airframes/obsolete/tiny_hitl.xml
@@ -132,7 +132,7 @@
 
     <define name="ROLL_SLEW" value="0.1"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
    </section>
 
diff --git a/conf/airframes/obsolete/twinjet1.xml b/conf/airframes/obsolete/twinjet1.xml
index 81cdc0a60a..32339490a9 100644
--- a/conf/airframes/obsolete/twinjet1.xml
+++ b/conf/airframes/obsolete/twinjet1.xml
@@ -91,7 +91,7 @@
     <define name="ELEVATOR_OF_ROLL" value="0"/>
 
     <!--  roll rate loop -->
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/airframes/obsolete/tyto1.xml b/conf/airframes/obsolete/tyto1.xml
index d30c6d88a4..7f9e7ee8d4 100644
--- a/conf/airframes/obsolete/tyto1.xml
+++ b/conf/airframes/obsolete/tyto1.xml
@@ -157,7 +157,7 @@
     <define name="PITCH_DGAIN" value="0."/>
     <define name="ELEVATOR_OF_ROLL" value="0.2"/>
 
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/airframes/twinjet_example.xml b/conf/airframes/twinjet_example.xml
index 1bb4f7a9a8..60c0bfdf1f 100644
--- a/conf/airframes/twinjet_example.xml
+++ b/conf/airframes/twinjet_example.xml
@@ -119,7 +119,7 @@
     <define name="ELEVATOR_OF_ROLL" value="0"/>
 
     <!--  roll rate loop -->
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/airframes/twinjet_overo.xml b/conf/airframes/twinjet_overo.xml
index c85f6a106e..b153a58ce3 100644
--- a/conf/airframes/twinjet_overo.xml
+++ b/conf/airframes/twinjet_overo.xml
@@ -121,7 +121,7 @@
     <define name="ELEVATOR_OF_ROLL" value="0"/>
 
     <!--  roll rate loop -->
-    <define name="ROLL_ATTITUDE_GAIN" value="-7500"/>
+    <define name="ROLL_ATTITUDE_GAIN" value="7500"/>
     <define name="ROLL_RATE_GAIN" value="-1500"/>
   </section>
 
diff --git a/conf/settings/tuning.xml b/conf/settings/tuning.xml
index 8a26c5cb11..695c1096e5 100644
--- a/conf/settings/tuning.xml
+++ b/conf/settings/tuning.xml
@@ -39,7 +39,7 @@
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_elevator_of_roll" shortname="elevator_of_roll" param="H_CTL_ELEVATOR_OF_ROLL"/>
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
+        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
       </dl_settings>
 
diff --git a/conf/settings/tuningJH.xml b/conf/settings/tuningJH.xml
index 6d773ac6b2..8319dff5c4 100644
--- a/conf/settings/tuningJH.xml
+++ b/conf/settings/tuningJH.xml
@@ -44,7 +44,7 @@
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 
 
-        <dl_setting MAX="0" MIN="-10000" STEP="50" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain"/>
+        <dl_setting MAX="10000" MIN="0" STEP="50" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain"/>
         <dl_setting MAX="0" MIN="-1500" STEP="5" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain"/>
 
       </dl_settings>
diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml
index 6cd59e02f6..461f9ee81d 100644
--- a/conf/settings/tuning_ctl_adaptive.xml
+++ b/conf/settings/tuning_ctl_adaptive.xml
@@ -7,7 +7,7 @@
 
     <dl_settings NAME="control">
       <dl_settings NAME="attitude">
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
+        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
         <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_igain" shortname="roll_igain" param="H_CTL_ROLL_IGAIN" handler="SetRollIGain"/>
         <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index fdb2055bf9..736da3d6f3 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -7,7 +7,7 @@
 
     <dl_settings NAME="control">
       <dl_settings NAME="attitude">
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
+        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll_pgain" param="H_CTL_ROLL_ATTITUDE_GAIN" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll_dgain" param="H_CTL_ROLL_RATE_GAIN"/>
         <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_roll_igain" shortname="roll_igain" param="H_CTL_ROLL_IGAIN" handler="SetRollIGain"/>
         <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain" param="H_CTL_PITCH_PGAIN"/>
diff --git a/conf/settings/tuning_infrared.xml b/conf/settings/tuning_infrared.xml
index d95b2320e4..521d4f5427 100644
--- a/conf/settings/tuning_infrared.xml
+++ b/conf/settings/tuning_infrared.xml
@@ -55,7 +55,7 @@
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 
 
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
+        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
 
       </dl_settings>
diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml
index 572aca796e..294bdc1332 100644
--- a/conf/settings/tuning_ins.xml
+++ b/conf/settings/tuning_ins.xml
@@ -46,7 +46,7 @@
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 
 
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
+        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
 
       </dl_settings>
diff --git a/conf/settings/tuning_ins_dcm.xml b/conf/settings/tuning_ins_dcm.xml
index 1a2aa5163c..f5a160ebd1 100644
--- a/conf/settings/tuning_ins_dcm.xml
+++ b/conf/settings/tuning_ins_dcm.xml
@@ -49,7 +49,7 @@
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 
 
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
+        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
 
       </dl_settings>
diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml
index eddd1b4900..989ee5d966 100644
--- a/conf/settings/tuning_loiter.xml
+++ b/conf/settings/tuning_loiter.xml
@@ -54,7 +54,7 @@
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 
 
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
+        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
 
       </dl_settings>
diff --git a/conf/settings/tuning_pers.xml b/conf/settings/tuning_pers.xml
index 16d47ce176..2deefc53d0 100644
--- a/conf/settings/tuning_pers.xml
+++ b/conf/settings/tuning_pers.xml
@@ -55,7 +55,7 @@
         <dl_setting MAX="5000" MIN="0" STEP="100" VAR="h_ctl_aileron_of_throttle" shortname="aileron_of_throttle"/>
 
 
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
+        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll attitude pgain" param="H_CTL_ROLL_ATTITUDE_GAIN"/>
         <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll rate gain" param="H_CTL_ROLL_RATE_GAIN"/>
 
       </dl_settings>
diff --git a/conf/settings/tuning_tp_auto.xml b/conf/settings/tuning_tp_auto.xml
index 8f7238b1d2..aa2751503b 100644
--- a/conf/settings/tuning_tp_auto.xml
+++ b/conf/settings/tuning_tp_auto.xml
@@ -30,7 +30,7 @@
 
 
       <dl_settings NAME="attitude">
-        <dl_setting MAX="0" MIN="-15000" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll pgain" module="stabilization/stabilization_attitude"/>
+        <dl_setting MAX="15000" MIN="0" STEP="250" VAR="h_ctl_roll_attitude_gain" shortname="roll pgain" module="stabilization/stabilization_attitude"/>
         <dl_setting MAX="0" MIN="-25000" STEP="250" VAR="h_ctl_roll_rate_gain" shortname="roll dgain"/>
         <dl_setting MAX="1" MIN="0" STEP="0.05" VAR="h_ctl_roll_max_setpoint" shortname="max_roll"/>
         <dl_setting MAX="25000" MIN="0" STEP="250" VAR="h_ctl_pitch_pgain" shortname="pitch_pgain"/>
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
index c8e2ce8cb0..1dd83a5e49 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
@@ -157,7 +157,7 @@ void h_ctl_init( void ) {
   h_ctl_disabled = FALSE;
 
   h_ctl_roll_setpoint = 0.;
-  h_ctl_roll_attitude_gain = H_CTL_ROLL_ATTITUDE_GAIN;
+  h_ctl_roll_attitude_gain = ABS(H_CTL_ROLL_ATTITUDE_GAIN);
   h_ctl_roll_rate_gain = H_CTL_ROLL_RATE_GAIN;
   h_ctl_roll_igain = H_CTL_ROLL_IGAIN;
   h_ctl_roll_sum_err = 0;
@@ -307,7 +307,7 @@ inline static void h_ctl_roll_loop( void ) {
     }
   }
 
-  cmd_fb = h_ctl_roll_attitude_gain * err;// + h_ctl_roll_rate_gain * d_err;
+  cmd_fb = -h_ctl_roll_attitude_gain * err;// + h_ctl_roll_rate_gain * d_err;
   float cmd = h_ctl_roll_Kffa * h_ctl_ref_roll_accel
     + h_ctl_roll_Kffd * h_ctl_ref_roll_rate
     - cmd_fb
@@ -316,7 +316,7 @@ inline static void h_ctl_roll_loop( void ) {
     + v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
 //  float cmd = h_ctl_roll_Kffa * h_ctl_ref_roll_accel
 //    + h_ctl_roll_Kffd * h_ctl_ref_roll_rate
-//    - h_ctl_roll_attitude_gain * err
+//    + h_ctl_roll_attitude_gain * err
 //    - h_ctl_roll_rate_gain * d_err
 //    - h_ctl_roll_igain * h_ctl_roll_sum_err
 //    + v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
index 0da264bbf5..a7a5535c50 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
@@ -163,7 +163,7 @@ void h_ctl_init( void ) {
 #endif
 
 #ifdef H_CTL_ROLL_ATTITUDE_GAIN
-  h_ctl_roll_attitude_gain = H_CTL_ROLL_ATTITUDE_GAIN;
+  h_ctl_roll_attitude_gain = ABS(H_CTL_ROLL_ATTITUDE_GAIN);
   h_ctl_roll_rate_gain = H_CTL_ROLL_RATE_GAIN;
 #endif
 
@@ -320,7 +320,7 @@ inline static void h_ctl_roll_loop( void ) {
   estimator_p = (err - last_err)/(1/60.);
   last_err = err;
 #endif
-  float cmd = - h_ctl_roll_attitude_gain * err
+  float cmd = h_ctl_roll_attitude_gain * err
     - h_ctl_roll_rate_gain * estimator_p
     + v_ctl_throttle_setpoint * h_ctl_aileron_of_throttle;