# ArduSub Tuning  ## Basic Tuning This page allows changing the PID controller gains to better suit your vehicle and application. Changing these may help you get a snappier response for more precise movements, or a smoother response for recording cinematic footages. Adjust a parameter by moving the desired slider, or by clicking the increase/decrease buttons. There are three controllers that can be adjusted here: - [**Attitude Controller Parameters**](https://www.ardusub.com/operators-manual/full-parameter-list.html#atc-parameters) are the parameters for the controller responsible for keeping the vehicle oriented as you want it, assuming your vehicle has ability (enough motors/DOF) to do so. - **Position Controller Parameters** are the parameters for the controller responsible for positioning the vehicle at a point in 3D space. The **Z** parameters control how the depth control works (eg in [_Depth Hold_](https://www.ardusub.com/operators-manual/flight-modes.html#depth-hold) mode). The **XY** parameters affect how the vehicle controls the horizontal position in [_Position Enabled_](https://www.ardusub.com/operators-manual/flight-modes.html#position-enabled-modes) modes. - **Waypoint Navigation Parameters** are the parameters for the controller responsible for following waypoints in **Auto** and **Guided** mode. ::: warning **Guided** and **Auto** modes are currently unsupported and some features are disabled in QGC. :::