diff --git a/main.lua b/main.lua
index 97df817..46e44f6 100644
--- a/main.lua
+++ b/main.lua
@@ -888,7 +888,7 @@ PIDs = {
     ForeAftPID  = CreatePID(0.1, 0.01, 0.05),
 
     -- rate PIDs
-    VerticalRatePID = CreatePID(0.1, 0.01, 0.05),
+    VerticalRatePID = CreatePID(1.2, 0.01, 0.05),
     PortStarRatePID = CreatePID(0.1, 0.01, 0.05),
     ForeAftRatePID  = CreatePID(0.1, 0.01, 0.05)
 }
@@ -905,7 +905,8 @@ function UpdateGlobalThrust()
         return
     end
     
-    local throttleOutput = PIDs.AltitudePID:update(Config.Autopilot.AutopilotDesiredAltitude or 0, SensorData.Altitude.Altitude or 0, dt)
+    local AltitudeRateOutput = PIDs.VerticalRatePID:update(Config.Autopilot.AutopilotDesiredAltitude, SensorData.Altitude.Altitude, dt)
+    local throttleOutput = PIDs.AltitudePID:update(AltitudeRateOutput, SensorData.Altitude.VerticalSpeed, dt)
 
     local pitchOutput        = PIDs.PitchAttitudePID:update(0, SensorData.Gimbal.Angles.xAngle, dt)
     local pitchRateOutput    = PIDs.PitchRatePID:update(pitchOutput, SensorData.Gimbal.AngularRates.wx or 0, dt)