diff --git a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
index f576a4f104..7e0f08d981 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet2_new.xml
@@ -161,7 +161,7 @@
     <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/-->
     <define name="AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT" value="0.2" unit="%/(m/s)"/>
     <define name="AUTO_THROTTLE_PGAIN" value="0.02"/>
-    <define name="AUTO_THROTTLE_IGAIN" value="-0.01"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.01"/>
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.1"/>
 
     <!-- auto pitch inner loop -->
diff --git a/conf/airframes/ENAC/fixed-wing/funjet3.xml b/conf/airframes/ENAC/fixed-wing/funjet3.xml
index 75e3056a77..0c1a15c896 100644
--- a/conf/airframes/ENAC/fixed-wing/funjet3.xml
+++ b/conf/airframes/ENAC/fixed-wing/funjet3.xml
@@ -135,7 +135,7 @@
     <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_IGAIN" value="-0.004"/> <!-- 0.005 -->
+    <define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
 
     <!-- Climb loop (pitch) -->
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
index 560cc636bd..1b7640023f 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-2.xml
@@ -141,7 +141,7 @@
     <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_IGAIN" value="-0.001"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
 
     <!-- Climb loop (pitch) -->
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
diff --git a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
index a219362b81..1f0f798f14 100644
--- a/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
+++ b/conf/airframes/ENAC/fixed-wing/spocIII-3.xml
@@ -144,7 +144,7 @@
     <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_IGAIN" value="-0.001"/>
+    <define name="AUTO_THROTTLE_IGAIN" value="0.001"/>
 
     <!-- Climb loop (pitch) -->
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.08"/>
diff --git a/conf/airframes/ENAC/fixed-wing/twinjet2.xml b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
index ed2685154e..34cf09d6c4 100644
--- a/conf/airframes/ENAC/fixed-wing/twinjet2.xml
+++ b/conf/airframes/ENAC/fixed-wing/twinjet2.xml
@@ -143,7 +143,7 @@
     <define name="AUTO_THROTTLE_DASH_TRIM" value="-1000"/>
     <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_IGAIN" value="0.01"/>
     <define name="AUTO_THROTTLE_DGAIN" value="-0"/>
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.12"/>
 
diff --git a/conf/airframes/ENAC/fixed-wing/weasel.xml b/conf/airframes/ENAC/fixed-wing/weasel.xml
index 670795e0f0..1cb3cb6056 100644
--- a/conf/airframes/ENAC/fixed-wing/weasel.xml
+++ b/conf/airframes/ENAC/fixed-wing/weasel.xml
@@ -159,7 +159,7 @@
     <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_IGAIN" value="-0.004"/> <!-- 0.005 -->
+    <define name="AUTO_THROTTLE_IGAIN" value="0.004"/> <!-- 0.005 -->
 
     <!-- Climb loop (pitch) -->
     <define name="AUTO_THROTTLE_PITCH_OF_VZ_PGAIN" value="0.02"/>
diff --git a/conf/airframes/flixr_discovery.xml b/conf/airframes/flixr_discovery.xml
index ca557a2fe9..110ef0809f 100644
--- a/conf/airframes/flixr_discovery.xml
+++ b/conf/airframes/flixr_discovery.xml
@@ -258,7 +258,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <!-- Climb loop (throttle) -->
     <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_IGAIN" value="0.001"/>
     <define name="AUTO_THROTTLE_DGAIN" value="-0.0"/>
 
     <!-- Climb loop (pitch) -->
diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml
index 4c0e110ba4..59638e5d05 100644
--- a/conf/settings/tuning_ctl_adaptive.xml
+++ b/conf/settings/tuning_ctl_adaptive.xml
@@ -39,7 +39,7 @@
         <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_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
+        <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" MIN="-1." STEP="0.01" VAR="v_ctl_pitch_dash_trim" shortname="dash trim" param="V_CTL_PITCH_DASH_TRIM"/>
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index d71424e425..c5b77c2e7d 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -44,7 +44,7 @@
         <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_throttle_pgain" shortname="throttle_p" param="V_CTL_AUTO_THROTTLE_PGAIN"/>
-        <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_throttle_igain" shortname="throttle_i" param="V_CTL_AUTO_THROTTLE_IGAIN"/>
+        <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" MIN="-1." STEP="0.01" VAR="v_ctl_pitch_dash_trim" shortname="dash trim" param="V_CTL_PITCH_DASH_TRIM"/>
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
index 1056044be4..ec3afeeade 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v.c
@@ -123,10 +123,9 @@ void v_ctl_init( void ) {
   /* "auto throttle" inner loop parameters */
   v_ctl_auto_throttle_nominal_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
   v_ctl_auto_throttle_cruise_throttle = v_ctl_auto_throttle_nominal_cruise_throttle;
-  v_ctl_auto_throttle_climb_throttle_increment =
-    V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT;
+  v_ctl_auto_throttle_climb_throttle_increment = V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT;
   v_ctl_auto_throttle_pgain = ABS(V_CTL_AUTO_THROTTLE_PGAIN);
-  v_ctl_auto_throttle_igain = V_CTL_AUTO_THROTTLE_IGAIN;
+  v_ctl_auto_throttle_igain = ABS(V_CTL_AUTO_THROTTLE_IGAIN);
   v_ctl_auto_throttle_dgain = 0.;
   v_ctl_auto_throttle_sum_err = 0.;
   v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN;
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
index 67bf6806d1..81d3520369 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
@@ -130,7 +130,7 @@ void v_ctl_init( void ) {
   v_ctl_auto_throttle_cruise_throttle = v_ctl_auto_throttle_nominal_cruise_throttle;
   v_ctl_auto_throttle_climb_throttle_increment = V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT;
   v_ctl_auto_throttle_pgain = ABS(V_CTL_AUTO_THROTTLE_PGAIN);
-  v_ctl_auto_throttle_igain = V_CTL_AUTO_THROTTLE_IGAIN;
+  v_ctl_auto_throttle_igain = ABS(V_CTL_AUTO_THROTTLE_IGAIN);
   v_ctl_auto_throttle_dgain = 0.;
   v_ctl_auto_throttle_sum_err = 0.;
   v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN;
@@ -232,9 +232,9 @@ static inline void v_ctl_set_throttle( void ) {
   float d_err = err - last_err;
   last_err = err;
 
-  if (v_ctl_auto_throttle_igain < 0.) {
+  if (v_ctl_auto_throttle_igain > 0.) {
     v_ctl_auto_throttle_sum_err += err*(1./60.);
-    BoundAbs(v_ctl_auto_throttle_sum_err, V_CTL_AUTO_THROTTLE_MAX_SUM_ERR / (-v_ctl_auto_throttle_igain));
+    BoundAbs(v_ctl_auto_throttle_sum_err, V_CTL_AUTO_THROTTLE_MAX_SUM_ERR / (v_ctl_auto_throttle_igain));
   }
 
   // PID loop + feedforward ctl
@@ -242,7 +242,7 @@ static inline void v_ctl_set_throttle( void ) {
     + 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_igain * v_ctl_auto_throttle_sum_err;
+    - v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err;
 
 }
 
@@ -261,9 +261,9 @@ static inline void v_ctl_set_airspeed( void ) {
   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.) {
+  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));
+    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;
@@ -306,7 +306,7 @@ static inline void v_ctl_set_airspeed( void ) {
     + 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_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;