diff --git a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
index 2df851b499..e73c187ac8 100644
--- a/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
+++ b/conf/airframes/ENAC/fixed-wing/obsolete/solarstorm.xml
@@ -166,7 +166,7 @@
   <section name="NAV">
     <define name="NAV_PITCH" value="0."/>
     <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-    <define name="NAV_GROUND_SPEED_PGAIN" value="-0.01"/>
+    <define name="NAV_GROUND_SPEED_PGAIN" value="0.01"/>
   </section>
 
   <section name="AGGRESSIVE" prefix="AGR_">
diff --git a/conf/airframes/LAAS/mmlaas_N1.xml b/conf/airframes/LAAS/mmlaas_N1.xml
index 4d159af461..e015e9879c 100644
--- a/conf/airframes/LAAS/mmlaas_N1.xml
+++ b/conf/airframes/LAAS/mmlaas_N1.xml
@@ -182,7 +182,7 @@
   <section name="NAV">
     <define name="NAV_PITCH" value="0."/>
     <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-    <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
+    <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
     <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
   </section>
 
diff --git a/conf/airframes/LAAS/mmlaas_N2.xml b/conf/airframes/LAAS/mmlaas_N2.xml
index db66a2502e..461d737370 100644
--- a/conf/airframes/LAAS/mmlaas_N2.xml
+++ b/conf/airframes/LAAS/mmlaas_N2.xml
@@ -178,7 +178,7 @@
   <section name="NAV">
     <define name="NAV_PITCH" value="0."/>
     <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-    <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
+    <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
     <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
   </section>
 
diff --git a/conf/airframes/LAAS/mmlaas_N3.xml b/conf/airframes/LAAS/mmlaas_N3.xml
index bdbdcc4842..5d9ebd9182 100644
--- a/conf/airframes/LAAS/mmlaas_N3.xml
+++ b/conf/airframes/LAAS/mmlaas_N3.xml
@@ -178,7 +178,7 @@
   <section name="NAV">
     <define name="NAV_PITCH" value="0."/>
     <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-    <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
+    <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
     <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
   </section>
 
diff --git a/conf/airframes/TU_Delft/MicrojetBR.xml b/conf/airframes/TU_Delft/MicrojetBR.xml
index 376344091c..f2a03cea31 100644
--- a/conf/airframes/TU_Delft/MicrojetBR.xml
+++ b/conf/airframes/TU_Delft/MicrojetBR.xml
@@ -170,7 +170,7 @@
   <section name="NAV">
     <define name="NAV_PITCH" value="0."/>
     <define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
-  <!--  <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/> NOG niet in de nav.c file
+  <!--  <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/> NOG niet in de nav.c file
     <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>  -->
   </section>
 
diff --git a/conf/airframes/TU_Delft/MicrojetBRimu.xml b/conf/airframes/TU_Delft/MicrojetBRimu.xml
index 4bd0e6fabd..bc0f67b9e4 100644
--- a/conf/airframes/TU_Delft/MicrojetBRimu.xml
+++ b/conf/airframes/TU_Delft/MicrojetBRimu.xml
@@ -206,7 +206,7 @@
   <section name="NAV">
     <define name="NAV_PITCH" value="0."/>
     <define name="NAV_GLIDE_PITCH_TRIM" value="0."/>
-  <!--  <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/> NOG niet in de nav.c file
+  <!--  <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/> NOG niet in de nav.c file
     <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>  -->
   </section>
 
diff --git a/conf/airframes/obsolete/microjet6.xml b/conf/airframes/obsolete/microjet6.xml
index 3aee9773ec..37fc5adea4 100644
--- a/conf/airframes/obsolete/microjet6.xml
+++ b/conf/airframes/obsolete/microjet6.xml
@@ -165,7 +165,7 @@
   <section name="NAV">
     <define name="NAV_PITCH" value="0."/>
     <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-    <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
+    <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
     <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
   </section>
 
diff --git a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
index 333e810511..200577c243 100644
--- a/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
+++ b/conf/airframes/obsolete/mmlaas_N1_carto_cam.xml
@@ -144,7 +144,7 @@
   <section name="NAV">
     <define name="NAV_PITCH" value="0."/>
     <define name="NAV_GLIDE_PITCH_TRIM" value="0"/>
-    <define name="NAV_GROUND_SPEED_PGAIN" value="-0.015"/>
+    <define name="NAV_GROUND_SPEED_PGAIN" value="0.015"/>
     <define name="NAV_FOLLOW_PGAIN" value="-0.05"/>
   </section>
 
diff --git a/conf/settings/tuning.xml b/conf/settings/tuning.xml
index fbf0f9025d..5bfb58aebd 100644
--- a/conf/settings/tuning.xml
+++ b/conf/settings/tuning.xml
@@ -84,7 +84,7 @@
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
         <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
       </dl_settings>
     </dl_settings>
diff --git a/conf/settings/tuningJH.xml b/conf/settings/tuningJH.xml
index f58a4aaacd..a9e3049dfd 100644
--- a/conf/settings/tuningJH.xml
+++ b/conf/settings/tuningJH.xml
@@ -84,7 +84,7 @@
         <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift">
 	</dl_setting>
 	<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-	<dl_setting MAX="0." MIN="-0.05" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+	<dl_setting MAX="0.05" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
       </dl_settings>
     </dl_settings>
diff --git a/conf/settings/tuning_ctl_adaptive.xml b/conf/settings/tuning_ctl_adaptive.xml
index 0ad8e63eed..418ab2137c 100644
--- a/conf/settings/tuning_ctl_adaptive.xml
+++ b/conf/settings/tuning_ctl_adaptive.xml
@@ -62,7 +62,7 @@
         <dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/>
         <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
       </dl_settings>
     </dl_settings>
diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index b88502d2f6..5a3fb7dfdc 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -80,7 +80,7 @@
         <dl_setting MAX="20" MIN="-20" STEP="1" VAR="fp_pitch"/>
         <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
       </dl_settings>
     </dl_settings>
diff --git a/conf/settings/tuning_infrared.xml b/conf/settings/tuning_infrared.xml
index 08eaea0dff..6c00e00152 100644
--- a/conf/settings/tuning_infrared.xml
+++ b/conf/settings/tuning_infrared.xml
@@ -101,7 +101,7 @@
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
         <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
       </dl_settings>
     </dl_settings>
diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml
index d665f2fe1e..186d9640f1 100644
--- a/conf/settings/tuning_ins.xml
+++ b/conf/settings/tuning_ins.xml
@@ -92,7 +92,7 @@
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
         <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
       </dl_settings>
     </dl_settings>
diff --git a/conf/settings/tuning_ins_dcm.xml b/conf/settings/tuning_ins_dcm.xml
index eba587c996..b4b169a953 100644
--- a/conf/settings/tuning_ins_dcm.xml
+++ b/conf/settings/tuning_ins_dcm.xml
@@ -95,7 +95,7 @@
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
         <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
       </dl_settings>
     </dl_settings>
diff --git a/conf/settings/tuning_loiter.xml b/conf/settings/tuning_loiter.xml
index f6ee8b760a..6e19d6ea76 100644
--- a/conf/settings/tuning_loiter.xml
+++ b/conf/settings/tuning_loiter.xml
@@ -100,7 +100,7 @@
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
         <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
       </dl_settings>
     </dl_settings>
diff --git a/conf/settings/tuning_pers.xml b/conf/settings/tuning_pers.xml
index 0d4bf3cbf7..db07e57a41 100644
--- a/conf/settings/tuning_pers.xml
+++ b/conf/settings/tuning_pers.xml
@@ -101,7 +101,7 @@
         <dl_setting MAX="15" MIN="-15" STEP="1" VAR="fp_pitch"/>
         <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift"/>
         <dl_setting MAX="50" MIN="5" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-        <dl_setting MAX="0." MIN="-0.2" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+        <dl_setting MAX="0.2" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
       </dl_settings>
     </dl_settings>
diff --git a/conf/settings/tuning_tp_auto.xml b/conf/settings/tuning_tp_auto.xml
index d7088eff7c..b75fa0b19a 100644
--- a/conf/settings/tuning_tp_auto.xml
+++ b/conf/settings/tuning_tp_auto.xml
@@ -74,7 +74,7 @@
         <dl_setting MAX="50" MIN="-50" STEP="5" VAR="nav_shift" module="subsystems/nav" handler="IncreaseShift" shortname="inc. shift">
 	</dl_setting>
 	<dl_setting MAX="20" MIN="10" STEP="0.5" VAR="nav_ground_speed_setpoint" shortname="ground speed"/>
-	<dl_setting MAX="0." MIN="-0.05" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
+	<dl_setting MAX="0.05" MIN="0" STEP="0.01" VAR="nav_ground_speed_pgain" shortname="ground speed pgain"/>
         <dl_setting MAX="500" MIN="50" STEP="5" VAR="nav_survey_shift"/>
       </dl_settings>
     </dl_settings>
diff --git a/sw/airborne/subsystems/nav.c b/sw/airborne/subsystems/nav.c
index 12aadf70d6..bd6f1e0f76 100644
--- a/sw/airborne/subsystems/nav.c
+++ b/sw/airborne/subsystems/nav.c
@@ -209,7 +209,7 @@ static void nav_ground_speed_loop( void ) {
   if (MINIMUM_AIRSPEED < nav_ground_speed_setpoint
       && nav_ground_speed_setpoint < MAXIMUM_AIRSPEED) {
     float err = estimator_hspeed_mod - nav_ground_speed_setpoint;
-    v_ctl_auto_throttle_cruise_throttle += nav_ground_speed_pgain*err;
+    v_ctl_auto_throttle_cruise_throttle -= nav_ground_speed_pgain*err;
     Bound(v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE);
   } else {
     /* Reset cruise throttle to nominal value */
@@ -424,7 +424,7 @@ void nav_init(void) {
   nav_mode = NAV_MODE_COURSE;
 
 #ifdef NAV_GROUND_SPEED_PGAIN
-  nav_ground_speed_pgain = NAV_GROUND_SPEED_PGAIN;
+  nav_ground_speed_pgain = ABS(NAV_GROUND_SPEED_PGAIN);
   nav_ground_speed_setpoint = NOMINAL_AIRSPEED;
 #endif
 }