diff --git a/Aircraft/Instruments-3d/FG1000/GFC700-vertical-FSM.xml b/Aircraft/Instruments-3d/FG1000/GFC700-vertical-FSM.xml
index af471c65a..e23eb7f03 100644
--- a/Aircraft/Instruments-3d/FG1000/GFC700-vertical-FSM.xml
+++ b/Aircraft/Instruments-3d/FG1000/GFC700-vertical-FSM.xml
@@ -157,17 +157,17 @@
 
 <transition>
   <name>ALTS Capture</name>
-  <!-- Altitude Capture Mode enabled when we get within 500ft of the selected altitude -->
+  <!-- Altitude Capture Mode enabled when we get within 200ft of the selected altitude -->
   <source>ALTS-ARM</source>
   <target>ALTS</target>
   <condition>
     <less-than>
-      <property>/autopilot/internal/target-altitude-delta-ft</property>
-      <value>500</value>
+      <property>/autopilot/internal/ALTS-target-altitude-delta-ft</property>
+      <value>200</value>
     </less-than>
     <greater-than>
-      <property>/autopilot/internal/target-altitude-delta-ft</property>
-      <value>-500</value>
+      <property>/autopilot/internal/ALTS-target-altitude-delta-ft</property>
+      <value>-200</value>
     </greater-than>
   </condition>
 </transition>
@@ -180,7 +180,7 @@
       <!-- Set up the 2nd target, so that it is independent of the Selected Altitude,
        then annunciator to the reference value current target value, then enable
       the altitude capture function  -->
-      setprop("/autopilot/settings/target-altitude-ft-2", getprop("/autopilot/settings/target-altitude-ft"));
+      setprop("/autopilot/settings/target-altitude-ft-2", getprop("/autopilot/settings/target-alt-ft"));
       setprop("/autopilot/annunciator/vertical-mode-target",
         sprintf("%ift", getprop("/autopilot/settings/target-altitude-ft-2"))
       );
@@ -218,10 +218,10 @@
   <target>ALTS-ARM</target>
   <!-- Transitions must have a condition element.  So set it to True -->
   <condition>
-    <not>
+    <greater-than>
       <property>/sim/time/elapsed-sec</property>
       <value>0</value>
-    </not>
+    </greater-than>
   </condition>
 </transition>
 
@@ -275,6 +275,18 @@
   </enter>
 </state>
 
+<state>
+  <name>VNV</name>
+</state>
+
+<state>
+  <name>BC</name>
+</state>
+
+<state>
+  <name>FLC</name>
+</state>
+
 <!-- From the OFF state, pressing any of FD, AP, CWS, NAV, BC, APR, HDG changes to PIT mode -->
 <transition>
   <name>OFF-PIT</name>
@@ -335,7 +347,7 @@
 
 <!-- From any state pressing VS changes to VS mode -->
 <transition>
-  <name>VS</name>
+  <name>VS-ON</name>
   <target>VS</target>
   <exclude-target>true</exclude-target>
   <condition>
@@ -343,6 +355,9 @@
   </condition>
 </transition>
 
+
+<!-- Transitions to switch off various AP modes, which return to PIT mode -->
+
 <!-- From any state, pressing GA goes to GA mode -->
 <transition>
   <name>GA</name>
@@ -371,4 +386,60 @@
   </binding>
 </transition>
 
+<!-- From VS state pressing VS changes back to to PIT mode -->
+<transition>
+  <name>VS-OFF</name>
+  <source>VS</source>
+  <target>PIT</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/vertical-mode-button</property><value>VS</value></equals>
+  </condition>
+</transition>
+
+<!-- From ALT state pressing ALT changes back to to PIT mode -->
+<transition>
+  <name>ALT-OFF</name>
+  <source>ALT</source>
+  <target>PIT</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/vertical-mode-button</property><value>ALT</value></equals>
+  </condition>
+</transition>
+
+<!-- From VNV state pressing ALT changes back to to PIT mode -->
+<transition>
+  <name>VNV-OFF</name>
+  <source>VNV</source>
+  <target>PIT</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/vertical-mode-button</property><value>VNV</value></equals>
+  </condition>
+</transition>
+
+<!-- From BC state pressing BC changes back to to PIT mode -->
+<transition>
+  <name>BC-OFF</name>
+  <source>BC</source>
+  <target>PIT</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/vertical-mode-button</property><value>BC</value></equals>
+  </condition>
+</transition>
+
+<!-- From BC state pressing BC changes back to to PIT mode -->
+<transition>
+  <name>FLC-OFF</name>
+  <source>FLC</source>
+  <target>PIT</target>
+  <exclude-target>true</exclude-target>
+  <condition>
+    <equals><property>/autopilot/vertical-mode-button</property><value>FLC</value></equals>
+  </condition>
+</transition>
+
+
 </PropertyList>
diff --git a/Aircraft/Instruments-3d/FG1000/GFC700.xml b/Aircraft/Instruments-3d/FG1000/GFC700.xml
index 251cfe0f0..b266e77e4 100644
--- a/Aircraft/Instruments-3d/FG1000/GFC700.xml
+++ b/Aircraft/Instruments-3d/FG1000/GFC700.xml
@@ -174,9 +174,9 @@
     <debug>false</debug>
     <type>gain</type>
     <input>
-      <property>/autopilot/settings/target-altitude-ft</property>
+      <property>/autopilot/settings/target-alt-ft</property>
       <offset>
-        <property>/instrumentation/altimeter/indicated-altitude-ft-2</property>
+        <property>/instrumentation/altimeter/indicated-altitude-ft</property>
         <scale>-1.0</scale>
       </offset>
     </input>
@@ -467,15 +467,15 @@
        <prop>/autopilot/settings/target-pitch-deg</prop>
      </output>
      <config>
-       <Kp>-0.01</Kp>      <!-- proportional gain -->
+       <Kp>0.1</Kp>       <!-- proportional gain -->
        <beta>1.0</beta>    <!-- input value weighing factor -->
        <alpha>0.1</alpha>  <!-- low pass filter weighing factor -->
        <gamma>0.0</gamma>  <!-- input value weighing factor for -->
                            <!-- unfiltered derivative error -->
-       <Ti>10.0</Ti>       <!-- integrator time -->
+       <Ti>1.0</Ti>        <!-- integrator time -->
        <Td>0.00001</Td>    <!-- derivator time -->
-       <u_min>-1.0</u_min> <!-- minimum output clamp -->
-       <u_max>1.0</u_max>  <!-- maximum output clamp -->
+       <u_min>-15.0</u_min><!-- minimum output clamp -->
+       <u_max>15.0</u_max> <!-- maximum output clamp -->
      </config>
    </pid-controller>
 
@@ -496,7 +496,7 @@
       </condition>
     </enable>
     <input>
-      <prop>/position/altitude-ft</prop>
+      <prop>/instrumentation/altimeter/indicated-altitude-ft</prop>
     </input>
     <reference>
       <prop>/autopilot/settings/target-altitude-ft</prop>
@@ -528,7 +528,7 @@
       </condition>
     </enable>
     <input>
-      <prop>/position/altitude-ft</prop>
+      <prop>/instrumentation/altimeter/indicated-altitude-ft</prop>
     </input>
     <reference>
       <prop>/autopilot/settings/target-altitude-ft-2</prop>
diff --git a/Aircraft/Instruments-3d/FG1000/Nasal/Commands.nas b/Aircraft/Instruments-3d/FG1000/Nasal/Commands.nas
index a1f79b6db..f454e1a1a 100644
--- a/Aircraft/Instruments-3d/FG1000/Nasal/Commands.nas
+++ b/Aircraft/Instruments-3d/FG1000/Nasal/Commands.nas
@@ -20,19 +20,24 @@ io.include("Constants.nas");
 removecommand("FG1000HardKeyPushed");
 addcommand("FG1000HardKeyPushed",
   func(node) {
-    var device = int(node.getNode("device", 1).getValue());
+    var device = node.getNode("device", 1).getValue();
     var name = node.getNode("notification",1).getValue();
 
     # The knob animation stores the value as an offset property
     var value = node.getNode("offset", 1).getValue();
 
+    if (name == nil) {
+      print("FG1000HardKeyPushed: No <name> argument passed to fgcommand");
+      return;
+    }
+
     if (value == nil) {
       print("FG1000HardKeyPushed: No <offset> argument passed to fgcommand");
       return;
     }
 
     if (device == nil) {
-      print("FG1000HardKeyPushed: Unknown device" ~ node.getNode("device").getValue());
+      print("FG1000HardKeyPushed: No <device> argument passed to fgcommand for " ~ name);
       return;
     }
 
@@ -49,7 +54,7 @@ addcommand("FG1000HardKeyPushed",
 
     var notification = notifications.PFDEventNotification.new(
       "MFD",
-      device,
+      int(device),
       notifications.PFDEventNotification.HardKeyPushed,
       { Id: name, Value: value }
     );