Tuning only needs to be done once, and is recommended unless you're using vehicle that has already been tuned by the manufacturer (and not modified since).
[Auto-tuning](#autotune) should generally be used for frame types and controllers that support it (multicopter, fixed wing, and hybrid VTOL fixed wing vehicles).
The tuning UI also supports manual tuning of all controllers.
Auto-tuning automates the process of tuning the PX4 rate and attitude controllers, which are the most important controllers for stable and responsive flight (other tuning is more "optional").
This guide shows the default usage of this feature.
Additional information and configuration can be found in the [PX4 Autotuning Guide](http://docs.px4.io/master/en/config/autotune.html) (PX4 User Guide).
3. Use the RC transmitter roll stick to perform the following maneuver, tilting the vehicle just a few degrees: _roll left > roll right > center_ (The whole maneuver should take about 3 seconds).
The vehicle should stabilise itself within 2 oscillations.
4. Repeat the maneuver, tilting with larger amplitudes at each attempt.
If the vehicle can stabilise itself within 2 oscillations at \~20 degrees move to the next step.
5. Repeat the same maneuvers but on the pitch axis.
As above, start with small angles and confirm that the vehicle can itself within 2 oscillations before increasing the tilt.
8. If any strong oscillations occur, land immediately and follow the instructions in [PX4 User Guide > Autotuning > Troubleshooting](http://docs.px4.io/master/en/config/autotune.html#troubleshooting).
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## Manual Tuning
Manual tuning is done in-flight, so your vehicle must already be tuned well enough to fly with (this is normally the case if you have selected an appropriate default airframe).
The instructions below explain how you can use the manual tuning UI.
It is designed to be read/used in conjustion with the [PX4 Manual PID Tuning Guides](http://docs.px4.io/master/en/config/autotune.html#see-also), which provide more detailed hints on the kinds of step sizes to use when changing PID values.
4. Select the _Tuning axis_ to tune: **Roll**, **Pitch** or **Yaw** (each axis is tuned separately).
5. Fly the vehicle, observing the tracking on the chart.
- Adjust the _Tuning Values_ (parameters) to improve the tracking shown on the graph using the slider.
- The values are automatically saved, but you may wish to use the **Save to Clipboard** and **Restore from Clipboard** buttons to store the last known good configuration.
- You can also **Clear**/**Stop** the chart using the buttons provided.
