diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
index 0c1a15c896..062c0926bc 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml
@@ -134,7 +134,7 @@
     <!-- Climb loop (throttle) -->
     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
     <define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
-    <define name="AUTO_THROTTLE_DGAIN" value="-0.01"/> <!-- 0.005 -->
+    <define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
     <define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
 
     <!-- Climb loop (pitch) -->
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
index 1b7640023f..6d83409e59 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
@@ -140,7 +140,7 @@
     <!-- Climb loop (throttle) -->
     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
     <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
-    <define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
+    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
     <define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
 
     <!-- Climb loop (pitch) -->
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
index 1f0f798f14..1009755478 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
@@ -143,7 +143,7 @@
     <!-- Climb loop (throttle) -->
     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.08" unit="%/(m/s)"/>
     <define name="AUTO_THROTTLE_PGAIN" value="0.01"/>
-    <define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
+    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
     <define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
 
     <!-- Climb loop (pitch) -->
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index 34cf09d6c4..517b8735a7 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -144,7 +144,7 @@
     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
     <define name="AUTO_THROTTLE_PGAIN" value="0.035000000149"/>
     <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
-    <define name="AUTO_THROTTLE_DGAIN" value="-0"/>
+    <define name="AUTO_THROTTLE_DGAIN" value="0"/>
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12"/>
 
     <!-- auto pitch inner loop -->
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index 1cb3cb6056..cab24e2bc6 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -158,7 +158,7 @@
     <!-- Climb loop (throttle) -->
     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.1" unit="%/(m/s)"/>
     <define name="AUTO_THROTTLE_PGAIN" value="0.004"/> <!-- -0.005 -->
-    <define name="AUTO_THROTTLE_DGAIN" value="-0.01"/> <!-- 0.005 -->
+    <define name="AUTO_THROTTLE_DGAIN" value="0.01"/> <!-- 0.005 -->
     <define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
 
     <!-- Climb loop (pitch) -->
diff --git a/conf/airframes/TU_Delft/Trip50A.xml b/conf/airframes/TU_Delft/Trip50A.xml
index 5160f8d85f..86e9467fca 100644
--- a/conf/airframes/TU_Delft/Trip50A.xml
+++ b/conf/airframes/TU_Delft/Trip50A.xml
@@ -127,7 +127,7 @@
     <!-- auto throttle inner loop
 		float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
 		+ v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
-		+ v_ctl_auto_throttle_pgain *
+		- v_ctl_auto_throttle_pgain *
 		(err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
 		+ v_ctl_auto_throttle_dgain * d_err);
 
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index 110ef0809f..941c102987 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -259,7 +259,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.05" unit="%/(m/s)"/>
     <define name="AUTO_THROTTLE_PGAIN" value="0.007" unit="%/(m/s)"/>
     <define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
-    <define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
+    <define name="AUTO_THROTTLE_DGAIN" value="0.0"/>
 
     <!-- Climb loop (pitch) -->
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.20" unit="rad/(m/s)"/>
diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml
index 59638e5d05..48475a3071 100644
--- a/conf/settings/tuning_ctl_adaptive.xml
+++ b/conf/settings/tuning_ctl_adaptive.xml
@@ -40,7 +40,7 @@
 
         <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"/>
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
+        <dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
 
         <dl_setting MAX="0" MIN="-1." STEP="0.01" VAR="v_ctl_pitch_dash_trim" shortname="dash trim" param="V_CTL_PITCH_DASH_TRIM"/>
         <dl_setting MIN="0" MAX="1." STEP="0.01" VAR="v_ctl_pitch_loiter_trim" shortname="loiter trim" param="V_CTL_PITCH_LOITER_TRIM"/>
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index c5b77c2e7d..291097f5eb 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -45,7 +45,7 @@
 
         <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"/>
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
+        <dl_setting MAX="0.1" MIN="0" STEP="0.001" VAR="v_ctl_auto_throttle_dgain" shortname="throttle_d" param="V_CTL_AUTO_THROTTLE_DGAIN"/>
 
         <dl_setting MAX="0" MIN="-1." STEP="0.01" VAR="v_ctl_pitch_dash_trim" shortname="dash trim" param="V_CTL_PITCH_DASH_TRIM"/>
         <dl_setting MIN="0" MAX="1." STEP="0.01" VAR="v_ctl_pitch_loiter_trim" shortname="loiter trim" param="V_CTL_PITCH_LOITER_TRIM"/>
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
index 81d3520369..9fec2eb886 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
@@ -241,7 +241,7 @@ static inline void v_ctl_set_throttle( void ) {
   controlled_throttle = v_ctl_auto_throttle_cruise_throttle
     + v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
     - v_ctl_auto_throttle_pgain * err
-    + v_ctl_auto_throttle_dgain * d_err
+    - v_ctl_auto_throttle_dgain * d_err
     - v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err;
 
 }
@@ -305,7 +305,7 @@ static inline void v_ctl_set_airspeed( void ) {
   controlled_throttle = v_ctl_auto_throttle_cruise_throttle
     + 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_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