diff --git a/Systems/a320-aerodynamics.xml b/Systems/a320-aerodynamics.xml
index 52aa6654..e5bec7ba 100644
--- a/Systems/a320-aerodynamics.xml
+++ b/Systems/a320-aerodynamics.xml
@@ -406,7 +406,7 @@
 			<product>
 				<property>aero/qbar-psf</property>
 				<property>metrics/Sw-sqft</property>
-				<property>fcs/rudder-pos-rad</property>
+				<toradians><property>hydraulics/rudder/final-deg</property></toradians>
 				<value>0.2653</value>
 			</product>
 		</function>
diff --git a/Systems/a320-fcs.xml b/Systems/a320-fcs.xml
index 2d628ccf..c8bb06f2 100644
--- a/Systems/a320-fcs.xml
+++ b/Systems/a320-fcs.xml
@@ -24,7 +24,7 @@
 	<property value="0">fbw/pitch/d-gain</property>
 	<property value="0">fbw/yaw/yd-p-gain</property>
 	<property value="0">fbw/yaw/tc-p-gain</property>
-	<property value="0">fbw/yaw/tc-i-gain</property>
+	<property value="0">fbw/yaw/tc-d-gain</property>
 	
 	<!-- FMGC stuff -->
 	<property value="0">fbw/fmgc/roll-cmd</property>
@@ -79,12 +79,12 @@
 		<fcs_function name="fbw/roll/p-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
 					<tableData>
 						     0     1  
-						0.2 -26.2  0.0
-						0.9 -15.5  0.0
+						140 -26.2  0.0
+						350  -9.5  0.0
 					</tableData>
 				</table>
 			</function>
@@ -93,12 +93,12 @@
 		<fcs_function name="fbw/roll/i-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
 					<tableData>
 						     0     1
-						0.2 -45.5  0.0
-						0.9 -36.0  0.0
+						140 -45.5  0.0
+						350 -29.0  0.0
 					</tableData>
 				</table>
 			</function>
@@ -107,12 +107,12 @@
 		<fcs_function name="fbw/roll/d-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/roll/gain-switch</independentVar>
 					<tableData>
 						     0    1
-						0.2 -2.1  0.0
-						0.9 -1.1  0.0
+						140 -2.1  0.0
+						350 -0.8  0.0
 					</tableData>
 				</table>
 			</function>
@@ -121,12 +121,12 @@
 		<fcs_function name="fbw/pitch/p-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
 					<tableData>
 						     0   1  
-						0.2  28  0
-						0.9  23  0
+						140  28  0
+						350  23  0
 					</tableData>
 				</table>
 			</function>
@@ -135,12 +135,12 @@
 		<fcs_function name="fbw/pitch/i-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
 					<tableData>
 						     0   1
-						0.2  61  0
-						0.9  45  0
+						140  61  0
+						350  45  0
 					</tableData>
 				</table>
 			</function>
@@ -149,12 +149,12 @@
 		<fcs_function name="fbw/pitch/d-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/pitch/gain-switch</independentVar>
 					<tableData>
 						     0    1
-						0.2  2.9  0.0
-						0.9  1.3  0.0
+						140  2.4  0.0
+						350  0.6  0.0
 					</tableData>
 				</table>
 			</function>
@@ -163,12 +163,12 @@
 		<fcs_function name="fbw/yaw/yd-p-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
 					<tableData>
 						     0    1
-						0.2 -7.5  0.0
-						0.9 -1.5  0.0
+						140 -7.0  0.0
+						350 -1.2  0.0
 					</tableData>
 				</table>
 			</function>
@@ -177,26 +177,26 @@
 		<fcs_function name="fbw/yaw/tc-p-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
 					<tableData>
-						     0     1
-						0.2  5.01  0.00
-						0.9  1.05  0.00
+						     0   1
+						140  13  0
+						350   5  0
 					</tableData>
 				</table>
 			</function>
 		</fcs_function>
 		
-		<fcs_function name="fbw/yaw/tc-i-gain">
+		<fcs_function name="fbw/yaw/tc-d-gain">
 			<function>
 				<table>
-					<independentVar lookup="row">velocities/mach</independentVar>
+					<independentVar lookup="row">velocities/vc-kts</independentVar>
 					<independentVar lookup="column">fbw/yaw/gain-switch</independentVar>
 					<tableData>
-						     0     1
-						0.2  1.03  0.00
-						0.9  0.79  0.00
+						     0   1
+						140  16  0
+						350   9  0
 					</tableData>
 				</table>
 			</function>
@@ -520,12 +520,12 @@
 						</tableData>
 					</table>
 					<table>
-						<independentVar lookup="row">velocities/mach</independentVar>
+						<independentVar lookup="row">velocities/vc-kts</independentVar>
 						<independentVar lookup="column">position/wow</independentVar>
 						<tableData>
 							     0    1
-							0.2  0.5  1.0
-							0.9  0.1  1.0
+							140  0.5  1.0
+							350  0.1  1.0
 						</tableData>
 					</table>
 				</product>
@@ -1113,25 +1113,11 @@
 			</test>
 		</switch>
 		
-		<switch name="fbw/yaw/trigger">
-			<default value="0"/>
-			<test logic="OR" value="-1">
-				fbw/yaw/gain-switch gt 0
-				/position/gear-agl-ft lt 50
-				fbw/yaw/autoland-switch eq 1
-			</test>
-			<test logic="OR" value="1">
-				fbw/yaw/tc-pid le -0.199
-				fbw/yaw/tc-pid ge 0.199
-			</test>
-		</switch>
-		
 		<pid name="fbw/yaw/tc-pid-v">
 			<input>fbw/yaw/slip-skid</input>
 			<kp>fbw/yaw/tc-p-gain</kp>
-			<ki>fbw/yaw/tc-i-gain</ki>
-			<kd>0.0</kd>
-			<trigger>fbw/yaw/trigger</trigger>
+			<ki>0.0</ki>
+			<kd>fbw/yaw/tc-d-gain</kd>
 			<clipto>
 				<min>-0.2</min>
 				<max>0.2</max>
diff --git a/Systems/fmgc-drivers.xml b/Systems/fmgc-drivers.xml
index 64ca89e1..d90ebe56 100644
--- a/Systems/fmgc-drivers.xml
+++ b/Systems/fmgc-drivers.xml
@@ -691,7 +691,11 @@
 				<sum>
 					<div>
 						<property>/orientation/roll-deg</property>
-						<value>1.8</value>
+						<table>
+							<property>/fdm/jsbsim/velocities/vc-kts</property>
+							<entry><ind>140</ind><dep>1.8</dep></entry>
+							<entry><ind>360</ind><dep>2.8</dep></entry>
+						</table>
 					</div>
 					<property>/it-autoflight/internal/heading-deg</property>
 				</sum>
@@ -708,7 +712,11 @@
 				<sum>
 					<div>
 						<property>/orientation/roll-deg</property>
-						<value>1.8</value>
+						<table>
+							<property>/fdm/jsbsim/velocities/vc-kts</property>
+							<entry><ind>140</ind><dep>1.8</dep></entry>
+							<entry><ind>360</ind><dep>2.8</dep></entry>
+						</table>
 					</div>
 					<property>/it-autoflight/internal/track-deg</property>
 				</sum>
diff --git a/Systems/fmgc-pitch.xml b/Systems/fmgc-pitch.xml
index 352f7eac..9be30bac 100644
--- a/Systems/fmgc-pitch.xml
+++ b/Systems/fmgc-pitch.xml
@@ -78,9 +78,9 @@
 			<Kp>
 				<expression>
 					<table>
-						<property>/velocities/mach</property>
-						<entry><ind>0.2</ind><dep>120</dep></entry>
-						<entry><ind>0.9</ind><dep>340</dep></entry>
+						<property>/fdm/jsbsim/velocities/vc-kts</property>
+						<entry><ind>140</ind><dep>120</dep></entry>
+						<entry><ind>360</ind><dep>340</dep></entry>
 					</table>
 				</expression>
 			</Kp>
diff --git a/Systems/fmgc-roll-yaw.xml b/Systems/fmgc-roll-yaw.xml
index 3ae2b94c..3bb81d99 100644
--- a/Systems/fmgc-roll-yaw.xml
+++ b/Systems/fmgc-roll-yaw.xml
@@ -53,7 +53,15 @@
 		<reference>0</reference>
 		<output>/it-autoflight/internal/target-roll-deg</output>
 		<config>
-			<Kp>-1.8</Kp>
+			<Kp>
+				<expression>
+					<table>
+						<property>/fdm/jsbsim/velocities/vc-kts</property>
+						<entry><ind>140</ind><dep>-1.8</dep></entry>
+						<entry><ind>360</ind><dep>-2.8</dep></entry>
+					</table>
+				</expression>
+			</Kp>
 			<Ki>-0.000001</Ki>
 			<min>
 				<property>/it-autoflight/internal/bank-limit</property>
diff --git a/revision.txt b/revision.txt
index a0254cc8..222192ce 100644
--- a/revision.txt
+++ b/revision.txt
@@ -1 +1 @@
-4693
\ No newline at end of file
+4697
\ No newline at end of file