diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 3a27d7dfd3..240897f90f 100755
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -2762,7 +2762,7 @@ rthState_e getStateOfForcedRTH(void)
 bool navigationIsControllingThrottle(void)
 {
     navigationFSMStateFlags_t stateFlags = navGetCurrentStateFlags();
-    return (stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAUNCH | NAV_CTL_LAND)) || (STATE(FIXED_WING) && (stateFlags & (NAV_CTL_POS)));
+    return (stateFlags & (NAV_CTL_ALT | NAV_CTL_EMERG | NAV_CTL_LAUNCH | NAV_CTL_LAND));
 }
 
 bool navigationIsFlyingAutonomousMode(void)
diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c
index 8244ebe1dd..0e874c70a4 100755
--- a/src/main/navigation/navigation_fixedwing.c
+++ b/src/main/navigation/navigation_fixedwing.c
@@ -412,28 +412,24 @@ int16_t applyFixedWingMinSpeedController(timeUs_t currentTimeUs)
 
 void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStateFlags, timeUs_t currentTimeUs)
 {
-    int16_t pitchCorrection = 0;        // >0 climb, <0 dive
-    int16_t rollCorrection = 0;         // >0 right, <0 left
-    int16_t throttleCorrection = 0;     // raw throttle
-
     int16_t minThrottleCorrection = navConfig()->fw.min_throttle - navConfig()->fw.cruise_throttle;
     int16_t maxThrottleCorrection = navConfig()->fw.max_throttle - navConfig()->fw.cruise_throttle;
 
-    // Mix Pitch/Roll/Throttle
     if (isRollAdjustmentValid && (navStateFlags & NAV_CTL_POS)) {
-        rollCorrection += posControl.rcAdjustment[ROLL];
+        // ROLL >0 right, <0 left
+        int16_t rollCorrection = constrain(posControl.rcAdjustment[ROLL], -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_bank_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_bank_angle));
+        rcCommand[ROLL] = pidAngleToRcCommand(rollCorrection, pidProfile()->max_angle_inclination[FD_ROLL]);
     }
 
     if (isPitchAdjustmentValid && (navStateFlags & NAV_CTL_ALT)) {
-        pitchCorrection += posControl.rcAdjustment[PITCH];
-        throttleCorrection += DECIDEGREES_TO_DEGREES(pitchCorrection) * navConfig()->fw.pitch_to_throttle;
+        // PITCH >0 dive, <0 climb
+        int16_t pitchCorrection = constrain(posControl.rcAdjustment[PITCH], -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle));
+        rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, pidProfile()->max_angle_inclination[FD_PITCH]);
+        int16_t throttleCorrection = DECIDEGREES_TO_DEGREES(pitchCorrection) * navConfig()->fw.pitch_to_throttle;
 
 #ifdef NAV_FIXED_WING_LANDING
         if (navStateFlags & NAV_CTL_LAND) {
-            /*
-             * During LAND we do not allow to raise THROTTLE when nose is up
-             * to reduce speed
-             */
+            // During LAND we do not allow to raise THROTTLE when nose is up to reduce speed
             throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, 0);
         } else {
 #endif
@@ -441,28 +437,13 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
 #ifdef NAV_FIXED_WING_LANDING
         }
 #endif
-    }
 
-    // Speed controller - only apply in POS mode when NOT NAV_CTL_LAND
-    if ((navStateFlags & NAV_CTL_POS) && !(navStateFlags & NAV_CTL_LAND)) {
-        throttleCorrection += applyFixedWingMinSpeedController(currentTimeUs);
-        throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, maxThrottleCorrection);
-    }
+        // Speed controller - only apply in POS mode when NOT NAV_CTL_LAND
+        if ((navStateFlags & NAV_CTL_POS) && !(navStateFlags & NAV_CTL_LAND)) {
+            throttleCorrection += applyFixedWingMinSpeedController(currentTimeUs);
+            throttleCorrection = constrain(throttleCorrection, minThrottleCorrection, maxThrottleCorrection);
+        }
 
-    // Limit and apply
-    if (isPitchAdjustmentValid && (navStateFlags & NAV_CTL_ALT)) {
-        // PITCH correction is measured according to altitude: <0 - dive/lose altitude, >0 - climb/gain altitude
-        // PITCH angle is measured in opposite direction ( >0 - dive, <0 - climb)
-        pitchCorrection = constrain(pitchCorrection, -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_dive_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_climb_angle));
-        rcCommand[PITCH] = -pidAngleToRcCommand(pitchCorrection, pidProfile()->max_angle_inclination[FD_PITCH]);
-    }
-
-    if (isRollAdjustmentValid && (navStateFlags & NAV_CTL_POS)) {
-        rollCorrection = constrain(rollCorrection, -DEGREES_TO_DECIDEGREES(navConfig()->fw.max_bank_angle), DEGREES_TO_DECIDEGREES(navConfig()->fw.max_bank_angle));
-        rcCommand[ROLL] = pidAngleToRcCommand(rollCorrection, pidProfile()->max_angle_inclination[FD_ROLL]);
-    }
-
-    if ((navStateFlags & NAV_CTL_ALT) || (navStateFlags & NAV_CTL_POS)) {
         uint16_t correctedThrottleValue = constrain(navConfig()->fw.cruise_throttle + throttleCorrection, navConfig()->fw.min_throttle, navConfig()->fw.max_throttle);
         rcCommand[THROTTLE] = constrain(correctedThrottleValue, motorConfig()->minthrottle, motorConfig()->maxthrottle);
     }
@@ -475,23 +456,15 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
     if (navStateFlags & NAV_CTL_LAND) {
         if ( ((posControl.flags.estAltStatus >= EST_USABLE) && (navGetCurrentActualPositionAndVelocity()->pos.z <= navConfig()->general.land_slowdown_minalt)) ||
              ((posControl.flags.estAglStatus == EST_TRUSTED) && (posControl.actualState.agl.pos.z <= navConfig()->general.land_slowdown_minalt)) ) {
-            /*
-             * Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
-             */
+
+            // Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
             rcCommand[THROTTLE] = motorConfig()->minthrottle;
             ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
 
-            /*
-             * Stabilize ROLL axis on 0 degrees banking regardless of loiter radius and position
-             */
+            // Stabilize ROLL axis on 0 degrees banking regardless of loiter radius and position
             rcCommand[ROLL] = 0;
 
-            /*
-             * Stabilize PITCH angle into shallow dive as specified by the
-             * nav_fw_land_dive_angle setting (default value is 2 - defined
-             * in navigation.c).
-             * PITCH angle is measured: >0 - dive, <0 - climb)
-             */
+            // Stabilize PITCH angle into shallow dive as specified by the nav_fw_land_dive_angle setting (default value is 2 - defined in navigation.c).
             rcCommand[PITCH] = pidAngleToRcCommand(DEGREES_TO_DECIDEGREES(navConfig()->fw.land_dive_angle), pidProfile()->max_angle_inclination[FD_PITCH]);
         }
     }