diff --git a/A320-main.xml b/A320-main.xml
index 22a4c231..e646cdb0 100644
--- a/A320-main.xml
+++ b/A320-main.xml
@@ -239,7 +239,7 @@
 		<pitch>
 			<umin>-0.30</umin>
 			<umax>0.30</umax>
-			<kp>-0.05</kp>
+			<kp>-0.04</kp>
 			<ti>10.0</ti>
 			<td>0.0001</td>
 			<kp-cws>-0.07</kp-cws>
@@ -250,7 +250,7 @@
 			<alt>0.025</alt>
 			<vs>0.07</vs>
 			<fpa>0.30</fpa>
-			<flch>-0.35</flch>
+			<flch>-0.60</flch>
 			<gs>0.10</gs>
 		</cmd>
 		<autoland>
diff --git a/Nasal/it-autoflight.nas b/Nasal/it-autoflight.nas
index 891161c1..03b04754 100644
--- a/Nasal/it-autoflight.nas
+++ b/Nasal/it-autoflight.nas
@@ -1,5 +1,5 @@
 # IT AUTOFLIGHT System Controller by Joshua Davidson (it0uchpods/411).
-# V3.0.0 Build 127
+# V3.0.0 Build 130
 # This program is 100% GPL!
 
 print("IT-AUTOFLIGHT: Please Wait!");
@@ -161,19 +161,23 @@ var lateral = func {
 	if (latset == 0) {
 		alandt.stop();
 		alandt1.stop();
+		lnavwptt.stop();
 		setprop("/it-autoflight/output/loc-armed", 0);
 		setprop("/it-autoflight/output/appr-armed", 0);
 		setprop("/it-autoflight/output/lat", 0);
 		setprop("/it-autoflight/mode/lat", "HDG");
 		setprop("/it-autoflight/mode/arm", " ");
 	} else if (latset == 1) {
-		alandt.stop();
-		alandt1.stop();
-		setprop("/it-autoflight/output/loc-armed", 0);
-		setprop("/it-autoflight/output/appr-armed", 0);
-		setprop("/it-autoflight/output/lat", 1);
-		setprop("/it-autoflight/mode/lat", "LNAV");
-		setprop("/it-autoflight/mode/arm", " ");
+		if (getprop("/autopilot/route-manager/route/num") > 0) {
+			alandt.stop();
+			alandt1.stop();
+			lnavwptt.start();
+			setprop("/it-autoflight/output/loc-armed", 0);
+			setprop("/it-autoflight/output/appr-armed", 0);
+			setprop("/it-autoflight/output/lat", 1);
+			setprop("/it-autoflight/mode/lat", "LNAV");
+			setprop("/it-autoflight/mode/arm", " ");
+		}
 	} else if (latset == 2) {
 		setprop("/instrumentation/nav/signal-quality-norm", 0);
 		setprop("/it-autoflight/output/loc-armed", 1);
@@ -182,6 +186,7 @@ var lateral = func {
 	} else if (latset == 3) {
 		alandt.stop();
 		alandt1.stop();
+		lnavwptt.stop();
 		setprop("/it-autoflight/output/loc-armed", 0);
 		setprop("/it-autoflight/output/appr-armed", 0);
 		var hdgnow = int(getprop("/orientation/heading-magnetic-deg")+0.5);
@@ -190,9 +195,11 @@ var lateral = func {
 		setprop("/it-autoflight/mode/lat", "HDG");
 		setprop("/it-autoflight/mode/arm", " ");
 	} else if (latset == 4) {
+		lnavwptt.stop();
 		setprop("/it-autoflight/output/lat", 4);
 		setprop("/it-autoflight/mode/lat", "ALGN");
 	} else if (latset == 5) {
+		lnavwptt.stop();
 		setprop("/it-autoflight/output/lat", 5);
 	}
 }
@@ -340,6 +347,18 @@ var vertical = func {
 	}
 }
 
+# Helpers
+var lnavwpt = func {
+	if (getprop("/autopilot/route-manager/route/num") > 0) {
+		if (getprop("/autopilot/route-manager/wp/dist") <= 1.0) {
+			var wptnum = getprop("/autopilot/route-manager/current-wp");
+			if ((wptnum + 1) < getprop("/autopilot/route-manager/route/num")) {
+				setprop("/autopilot/route-manager/current-wp", wptnum + 1);
+			}
+		}
+	}
+}
+
 var flch_on = func {
 	setprop("/it-autoflight/output/appr-armed", 0);
 	setprop("/it-autoflight/output/vert", 4);
@@ -376,6 +395,14 @@ setlistener("/it-autoflight/input/kts-mach", func {
 	}
 });
 
+# Takeoff Modes
+# Lat Active
+var latarms = func {
+	if (getprop("/position/gear-agl-ft") >= getprop("/it-autoflight/settings/lat-agl-ft")) {
+		setprop("/it-autoflight/input/lat", getprop("/it-autoflight/input/lat-arm"));
+	}
+}
+
 # TOGA
 setlistener("/it-autoflight/input/toga", func {
 	if (getprop("/it-autoflight/input/toga") == 1) {
@@ -417,12 +444,6 @@ var toga_reduc = func {
 	}
 }
 
-var latarms = func {
-	if (getprop("/position/gear-agl-ft") >= getprop("/it-autoflight/settings/lat-agl-ft")) {
-		setprop("/it-autoflight/input/lat", getprop("/it-autoflight/input/lat-arm"));
-	}
-}
-
 # Altitude Capture and FPA Timer Logic
 setlistener("/it-autoflight/output/vert", func {
 	var vertm = getprop("/it-autoflight/output/vert");
@@ -482,6 +503,24 @@ var altcapt = func {
 	setprop("/it-autoflight/internal/alt", altinput);
 }
 
+# Min and Max Pitch Reset
+var minmax = func {
+	var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
+	var alt = getprop("/it-autoflight/internal/alt");
+	var dif = calt - alt;
+	if (dif < 100 and dif > -100) {
+		setprop("/it-autoflight/internal/max-pitch", 8);
+		setprop("/it-autoflight/internal/min-pitch", -5);
+		var vertmode = getprop("/it-autoflight/output/vert");
+		if (vertmode == 1 or vertmode == 2 or vertmode == 4 or vertmode == 5 or vertmode == 6 or vertmode == 7) {
+			# Do not change the vertical mode because we are not trying to capture altitude.
+		} else {
+			setprop("/it-autoflight/mode/vert", "ALT HLD");
+		}
+		minmaxtimer.stop();
+	}
+}
+
 # Thrust Mode Selector
 var thrustmode = func {
 	var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
@@ -511,24 +550,7 @@ var thrustmode = func {
 	}
 }
 
-# Min and Max Pitch Reset
-var minmax = func {
-	var calt = getprop("/instrumentation/altimeter/indicated-altitude-ft");
-	var alt = getprop("/it-autoflight/internal/alt");
-	var dif = calt - alt;
-	if (dif < 100 and dif > -100) {
-		setprop("/it-autoflight/internal/max-pitch", 8);
-		setprop("/it-autoflight/internal/min-pitch", -5);
-		var vertmode = getprop("/it-autoflight/output/vert");
-		if (vertmode == 1 or vertmode == 2 or vertmode == 4 or vertmode == 5 or vertmode == 6 or vertmode == 7) {
-			# Do not change the vertical mode because we are not trying to capture altitude.
-		} else {
-			setprop("/it-autoflight/mode/vert", "ALT HLD");
-		}
-		minmaxtimer.stop();
-	}
-}
-
+# ILS and Autoland
 # Retard
 setlistener("/controls/flight/flaps", func {
 	var flapc = getprop("/controls/flight/flaps");
@@ -575,11 +597,6 @@ var atoffchk = func{
 	}
 }
 
-# For Canvas Nav Display.
-setlistener("/it-autoflight/input/hdg", func {
-	setprop("/autopilot/settings/heading-bug-deg", getprop("/it-autoflight/input/hdg"));
-});
-
 # LOC and G/S arming
 var update_arms = func {
 	update_locarmelec();
@@ -706,6 +723,11 @@ var cwspitch = func {
 	}
 }
 
+# For Canvas Nav Display.
+setlistener("/it-autoflight/input/hdg", func {
+	setprop("/autopilot/settings/heading-bug-deg", getprop("/it-autoflight/input/hdg"));
+});
+
 # Timers
 var altcaptt = maketimer(0.5, altcapt);
 var thrustmodet = maketimer(0.5, thrustmode);
@@ -719,3 +741,4 @@ var cwspitcht = maketimer(0.1, cwspitch);
 var reduct = maketimer(0.5, toga_reduc);
 var latarmt = maketimer(0.5, latarms);
 var fpa_calct = maketimer(0.1, fpa_calc);
+var lnavwptt = maketimer(1, lnavwpt);
diff --git a/Systems/it-autoflight.xml b/Systems/it-autoflight.xml
index 16021bf0..69ff142f 100644
--- a/Systems/it-autoflight.xml
+++ b/Systems/it-autoflight.xml
@@ -313,7 +313,7 @@
 					<value>1</value>
 				</equals>
 			</condition>
-			<value>-30</value>
+			<value>-20</value>
 		</u_min>
 		<u_max>
 			<condition>
@@ -331,7 +331,7 @@
 					<value>1</value>
 				</equals>
 			</condition>
-			<value>30</value>
+			<value>20</value>
 		</u_max>
 	</filter>
 	
@@ -369,6 +369,19 @@
 		</config>
 	</pid-controller>
 	
+	<filter>
+		<name>IT-CONTROLLER: TARGET ROLL CMD</name>
+		<debug>false</debug>
+		<feedback-if-disabled>true</feedback-if-disabled>
+		<initialize-to>output</initialize-to>
+		<input>
+			<property>/it-autoflight/internal/target-roll-deg</property>
+		</input>
+		<output>/it-autoflight/internal/roll-deg-cmd</output>
+		<type>noise-spike</type>
+		<max-rate-of-change>10</max-rate-of-change>
+	</filter>
+	
 	<pid-controller>
 		<name>IT-CONTROLLER: ROLL</name>
 		<debug>false</debug>
@@ -390,7 +403,7 @@
 			<property>/orientation/roll-deg</property>
 		</input>
 		<reference>
-			<property>/it-autoflight/internal/target-roll-deg</property>
+			<property>/it-autoflight/internal/roll-deg-cmd</property>
 		</reference>
 		<output>
 			<property>/it-autoflight/internal/aileron-cmd</property>
@@ -465,7 +478,7 @@
 		</input>
 		<output>/controls/flight/aileron</output>
 		<type>noise-spike</type>
-		<max-rate-of-change>0.9</max-rate-of-change>
+		<max-rate-of-change>0.8</max-rate-of-change>
 	</filter>
 
  <!-- =============================================================== -->
@@ -692,7 +705,7 @@
 				</equals>
 			</condition>
 			<property>/it-autoflight/internal/lookahead-10-sec-mach</property>
-			<scale>1000.0</scale>
+			<scale>500.0</scale>
 		</input>
 		<reference>
 			<condition>
@@ -711,7 +724,7 @@
 				</equals>
 			</condition>
 			<property>/it-autoflight/input/spd-mach</property>
-			<scale>1000.0</scale>
+			<scale>500.0</scale>
 		</reference>
 		<output>
 			<property>/it-autoflight/internal/target-pitch-deg</property>
@@ -732,7 +745,7 @@
                         <property>/instrumentation/altimeter/indicated-altitude-ft</property>
                     </greater-than>
                 </condition>
-                <value>1.5</value>
+                <value>2</value>
             </u_min>
             <u_min>
                 <condition>
@@ -811,13 +824,26 @@
 			<Ti>10.0</Ti>        
 			<Td>0.00001</Td>    
             <u_min>
-                <value>1.5</value>
+                <value>2</value>
             </u_min>
             <u_max>
                 <value>25.0</value>
             </u_max>
 		</config>
 	</pid-controller>
+	
+	<filter>
+		<name>IT-CONTROLLER: TARGET PITCH CMD</name>
+		<debug>false</debug>
+		<feedback-if-disabled>true</feedback-if-disabled>
+		<initialize-to>output</initialize-to>
+		<input>
+			<property>/it-autoflight/internal/target-pitch-deg</property>
+		</input>
+		<output>/it-autoflight/internal/pitch-deg-cmd</output>
+		<type>noise-spike</type>
+		<max-rate-of-change>10</max-rate-of-change>
+	</filter>
 
 	<pid-controller>
 		<name>IT-CONTROLLER: PITCH</name>
@@ -840,7 +866,7 @@
 			<property>/orientation/pitch-deg</property>
 		</input>
 		<reference>
-			<property>/it-autoflight/internal/target-pitch-deg</property>
+			<property>/it-autoflight/internal/pitch-deg-cmd</property>
 		</reference>
 		<output>
 			<property>/it-autoflight/internal/elevator-cmd</property>
@@ -1260,7 +1286,7 @@
 		<input>
 			<expression>
 				<dif>
-					<property>/it-autoflight/internal/target-roll-deg</property>
+					<property>/it-autoflight/internal/roll-deg-cmd</property>
 					<property>/orientation/roll-deg</property>
 				</dif>
 			</expression>
@@ -1277,7 +1303,7 @@
 		<input>
 			<expression>
 				<dif>
-					<property>/it-autoflight/internal/target-pitch-deg</property>
+					<property>/it-autoflight/internal/pitch-deg-cmd</property>
 					<property>/orientation/pitch-deg</property>
 				</dif>
 			</expression>