diff --git a/ROMFS/mixers/FMU_AERT.mix b/ROMFS/mixers/FMU_AERT.mix
index d7e317e134..75e82bb00a 100644
--- a/ROMFS/mixers/FMU_AERT.mix
+++ b/ROMFS/mixers/FMU_AERT.mix
@@ -36,8 +36,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
 
 Rudder mixer
 ------------
diff --git a/ROMFS/mixers/FMU_AET.mix b/ROMFS/mixers/FMU_AET.mix
index bd7056f7ca..20cb88b916 100644
--- a/ROMFS/mixers/FMU_AET.mix
+++ b/ROMFS/mixers/FMU_AET.mix
@@ -39,8 +39,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
 
 Output 2
 --------
diff --git a/ROMFS/mixers/FMU_RET.mix b/ROMFS/mixers/FMU_RET.mix
index 156fcb1292..95beb8927c 100644
--- a/ROMFS/mixers/FMU_RET.mix
+++ b/ROMFS/mixers/FMU_RET.mix
@@ -32,8 +32,8 @@ factors (to reverse the servo movement) and adjust the offset, scaling and
 endpoints to suit.
 
 M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 1  10000  10000      0 -10000  10000
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
 
 Output 2
 --------
diff --git a/apps/fixedwing_att_control/fixedwing_att_control_rate.c b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
index 567f037845..b81d50168b 100644
--- a/apps/fixedwing_att_control/fixedwing_att_control_rate.c
+++ b/apps/fixedwing_att_control/fixedwing_att_control_rate.c
@@ -171,7 +171,7 @@ int fixedwing_att_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
 	actuators->control[0] = pid_calculate(&roll_rate_controller, rate_sp->roll, rates[0], 0, deltaT);
 
 
-	actuators->control[1] = -pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer...
+	actuators->control[1] = pid_calculate(&pitch_rate_controller, rate_sp->pitch, rates[1], 0, deltaT); //TODO: (-) sign comes from the elevator (positive --> deflection downwards), this has to be moved to the mixer...
 	actuators->control[2] = 0;//pid_calculate(&yaw_rate_controller, rate_sp->yaw, rates[2], 0, deltaT); 	//XXX TODO disabled for now
 
 	counter++;