diff --git a/conf/settings/fw_h_ctl_a_settings.xml b/conf/settings/fw_h_ctl_a_settings.xml
index 42d044f442..22631d80a9 100644
--- a/conf/settings/fw_h_ctl_a_settings.xml
+++ b/conf/settings/fw_h_ctl_a_settings.xml
@@ -7,8 +7,8 @@
     <dl_settings NAME="stabilization/stabilization_adaptive">
       <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffa" module="stabilization/stabilization_adaptive" shortname="roll_Kffa"/>
       <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffd" module="stabilization/stabilization_adaptive" shortname="roll_Kffd"/>
-      <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffa" module="stabilization/stabilization_adaptive" shortname="pitch_Kffa"/>
-      <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffd" module="stabilization/stabilization_adaptive" shortname="pitch_Kffd"/>
+      <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffa" module="stabilization/stabilization_adaptive" shortname="pitch_Kffa"/>
+      <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffd" module="stabilization/stabilization_adaptive" shortname="pitch_Kffd"/>
       <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_igain" module="stabilization/stabilization_adaptive" handler="SetRollIGain"/>
       <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_igain" module="stabilization/stabilization_adaptive" handler="SetPitchIGain"/>
     </dl_settings>
diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml
index 2e6234a637..53980acda5 100644
--- a/conf/settings/tuning_ctl_adaptive.xml
+++ b/conf/settings/tuning_ctl_adaptive.xml
@@ -23,8 +23,8 @@
       <dl_settings NAME="feedforward">
         <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffa" shortname="roll_Kffa" param="H_CTL_ROLL_KFFA"/>
         <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffd" shortname="roll_Kffd" param="H_CTL_ROLL_KFFD"/>
-        <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
-        <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
+        <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
+        <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
       </dl_settings>
 
       <dl_settings name="alt">
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index 04fc1ddd37..73de84bf6f 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -23,8 +23,8 @@
       <dl_settings NAME="feedforward">
         <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffa" shortname="roll_Kffa" param="H_CTL_ROLL_KFFA"/>
         <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_roll_Kffd" shortname="roll_Kffd" param="H_CTL_ROLL_KFFD"/>
-        <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
-        <dl_setting MAX="0" MIN="-5000" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
+        <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffa" shortname="pitch_Kffa" param="H_CTL_PITCH_KFFA"/>
+        <dl_setting MAX="5000" MIN="0" STEP="10" VAR="h_ctl_pitch_Kffd" shortname="pitch_Kffd" param="H_CTL_PITCH_KFFD"/>
       </dl_settings>
 
       <dl_settings name="alt">
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
index 3f92f483f3..ffb8ddacd5 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
@@ -174,8 +174,8 @@ void h_ctl_init( void ) {
   h_ctl_pitch_dgain = ABS(H_CTL_PITCH_DGAIN);
   h_ctl_pitch_igain = ABS(H_CTL_PITCH_IGAIN);
   h_ctl_pitch_sum_err = 0.;
-  h_ctl_pitch_Kffa = H_CTL_PITCH_KFFA;
-  h_ctl_pitch_Kffd = H_CTL_PITCH_KFFD;
+  h_ctl_pitch_Kffa = ABS(H_CTL_PITCH_KFFA);
+  h_ctl_pitch_Kffd = ABS(H_CTL_PITCH_KFFD);
   h_ctl_elevator_setpoint = 0;
   h_ctl_elevator_of_roll = 0; //H_CTL_ELEVATOR_OF_ROLL;
 #ifdef H_CTL_PITCH_OF_ROLL
@@ -387,9 +387,9 @@ inline static void h_ctl_pitch_loop( void ) {
 #endif
 
   // Compute errors
-  float err = estimator_theta - h_ctl_ref_pitch_angle;
+  float err =  h_ctl_ref_pitch_angle - estimator_theta;
 #ifdef USE_GYRO_PITCH_RATE
-  float d_err = estimator_q - h_ctl_ref_pitch_rate;
+  float d_err = h_ctl_ref_pitch_rate - estimator_q;
 #else // soft derivation
   float d_err = (err - last_err)/H_CTL_REF_DT - h_ctl_ref_pitch_rate;
 #endif
@@ -407,11 +407,11 @@ inline static void h_ctl_pitch_loop( void ) {
     }
   }
 
-  float cmd = h_ctl_pitch_Kffa * h_ctl_ref_pitch_accel
-    + h_ctl_pitch_Kffd * h_ctl_ref_pitch_rate
-    - h_ctl_pitch_pgain * err
-    - h_ctl_pitch_dgain * d_err
-    - h_ctl_pitch_igain * h_ctl_pitch_sum_err;
+  float cmd = - h_ctl_pitch_Kffa * h_ctl_ref_pitch_accel
+    - h_ctl_pitch_Kffd * h_ctl_ref_pitch_rate
+    + h_ctl_pitch_pgain * err
+    + h_ctl_pitch_dgain * d_err
+    + h_ctl_pitch_igain * h_ctl_pitch_sum_err;
 
   cmd /= airspeed_ratio2;