diff --git a/src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml b/src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml
index 6a3ed80..f77a0f6 100644
--- a/src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml
+++ b/src/AutoPilotPlugins/APM/APMTuningComponentCopter.qml
@@ -17,6 +17,7 @@ import QGroundControl.FactControls  1.0
 import QGroundControl.Palette       1.0
 import QGroundControl.Controls      1.0
 import QGroundControl.ScreenTools   1.0
+import QGroundControl.Vehicle       1.0
 
 SetupPage {
     id:             tuningPage
@@ -27,6 +28,7 @@ SetupPage {
 
         Column {
             width: availableWidth
+            height: availableHeight
 
             FactPanelController { id: controller; }
 
@@ -459,19 +461,128 @@ SetupPage {
                 PIDTuning {
                     anchors.left:   parent.left
                     anchors.right:  parent.right
-                    tuneList:            [ qsTr("Roll"), qsTr("Pitch"), qsTr("Yaw") ]
-                    params:              [
-                        [ controller.getParameterFact(-1, "ATC_ANG_RLL_P"),
-                         controller.getParameterFact(-1, "ATC_RAT_RLL_P"),
-                         controller.getParameterFact(-1, "ATC_RAT_RLL_I"),
-                         controller.getParameterFact(-1, "ATC_RAT_RLL_D") ],
-                        [ controller.getParameterFact(-1, "ATC_ANG_PIT_P"),
-                         controller.getParameterFact(-1, "ATC_RAT_PIT_P"),
-                         controller.getParameterFact(-1, "ATC_RAT_PIT_I"),
-                         controller.getParameterFact(-1, "ATC_RAT_PIT_D") ],
-                        [ controller.getParameterFact(-1, "ATC_ANG_YAW_P"),
-                         controller.getParameterFact(-1, "ATC_RAT_YAW_P"),
-                         controller.getParameterFact(-1, "ATC_RAT_YAW_I") ] ]
+                    height: availableHeight
+
+                    property var roll: QtObject {
+                        property string name: qsTr("Roll")
+                        property var plot: [
+                            { name: "Response", value: globals.activeVehicle.rollRate.value },
+                            { name: "Setpoint", value: globals.activeVehicle.setpoint.rollRate.value }
+                        ]
+                        property var params: ListModel {
+                            ListElement {
+                                title:          qsTr("Roll axis angle controller P gain")
+                                param:          "ATC_ANG_RLL_P"
+                                description:    ""
+                                min:            3
+                                max:            12
+                                step:           1
+                            }
+                            ListElement {
+                                title:          qsTr("Roll axis rate controller P gain")
+                                param:          "ATC_RAT_RLL_P"
+                                description:    ""
+                                min:            0.001
+                                max:            0.5
+                                step:           0.025
+                            }
+                            ListElement {
+                                title:          qsTr("Roll axis rate controller I gain")
+                                param:          "ATC_RAT_RLL_I"
+                                description:    ""
+                                min:            0.01
+                                max:            2
+                                step:           0.05
+                            }
+                            ListElement {
+                                title:          qsTr("Roll axis rate controller D gain")
+                                param:          "ATC_RAT_RLL_D"
+                                description:    ""
+                                min:            0.0
+                                max:            0.05
+                                step:           0.001
+                            }
+                        }
+                    }
+                    property var pitch: QtObject {
+                        property string name: qsTr("Pitch")
+                        property var plot: [
+                            { name: "Response", value: globals.activeVehicle.pitchRate.value },
+                            { name: "Setpoint", value: globals.activeVehicle.setpoint.pitchRate.value }
+                        ]
+                        property var params: ListModel {
+                            ListElement {
+                                title:          qsTr("Pitch axis angle controller P gain")
+                                param:          "ATC_ANG_PIT_P"
+                                description:    ""
+                                min:            3
+                                max:            12
+                                step:           1
+                            }
+                            ListElement {
+                                title:          qsTr("Pitch axis rate controller P gain")
+                                param:          "ATC_RAT_PIT_P"
+                                description:    ""
+                                min:            0.001
+                                max:            0.5
+                                step:           0.025
+                            }
+                            ListElement {
+                                title:          qsTr("Pitch axis rate controller I gain")
+                                param:          "ATC_RAT_PIT_I"
+                                description:    ""
+                                min:            0.01
+                                max:            2
+                                step:           0.05
+                            }
+                            ListElement {
+                                title:          qsTr("Pitch axis rate controller D gain")
+                                param:          "ATC_RAT_PIT_D"
+                                description:    ""
+                                min:            0.0
+                                max:            0.05
+                                step:           0.001
+                            }
+                        }
+                    }
+                    property var yaw: QtObject {
+                        property string name: qsTr("Yaw")
+                        property var plot: [
+                            { name: "Response", value: globals.activeVehicle.yawRate.value },
+                            { name: "Setpoint", value: globals.activeVehicle.setpoint.yawRate.value }
+                        ]
+                        property var params: ListModel {
+                            ListElement {
+                                title:          qsTr("Yaw axis angle controller P gain")
+                                param:          "ATC_ANG_YAW_P"
+                                description:    ""
+                                min:            3
+                                max:            12
+                                step:           1
+                            }
+                            ListElement {
+                                title:          qsTr("Yaw axis rate controller P gain")
+                                param:          "ATC_RAT_YAW_P"
+                                description:    ""
+                                min:            0.1
+                                max:            2.5
+                                step:           0.05
+                            }
+                            ListElement {
+                                title:          qsTr("Yaw axis rate controller I gain")
+                                param:          "ATC_RAT_YAW_I"
+                                description:    ""
+                                min:            0.01
+                                max:            1
+                                step:           0.05
+                            }
+                        }
+                    }
+                    title: "Rate"
+                    tuningMode: Vehicle.ModeDisabled
+                    unit: "deg/s"
+                    axis: [ roll, pitch, yaw ]
+                    chartDisplaySec: 3
                 }
             } // Component - Advanced Page
         } // Column