diff --git a/ArduPlane/tuning.cpp b/ArduPlane/tuning.cpp
index be860264fd339a..c93c3d862a8ec0 100644
--- a/ArduPlane/tuning.cpp
+++ b/ArduPlane/tuning.cpp
@@ -37,6 +37,9 @@ const uint8_t AP_Tuning_Plane::tuning_set_az[] =               { TUNING_AZ_P, TU
 const uint8_t AP_Tuning_Plane::tuning_set_rate_pitchDP[]=      { TUNING_RATE_PITCH_D, TUNING_RATE_PITCH_P };
 const uint8_t AP_Tuning_Plane::tuning_set_rate_rollDP[]=       { TUNING_RATE_ROLL_D, TUNING_RATE_ROLL_P };
 const uint8_t AP_Tuning_Plane::tuning_set_rate_yawDP[]=        { TUNING_RATE_YAW_D, TUNING_RATE_YAW_P };
+const uint8_t AP_Tuning_Plane::tuning_set_dp_roll_pitch[] =    { TUNING_RLL_D, TUNING_RLL_P, TUNING_PIT_D, TUNING_PIT_P };
+const uint8_t AP_Tuning_Plane::tuning_set_pidff_roll[] =       { TUNING_RLL_P, TUNING_RLL_I, TUNING_RLL_D, TUNING_RLL_FF };
+const uint8_t AP_Tuning_Plane::tuning_set_pidff_pitch[] =      { TUNING_PIT_P, TUNING_PIT_I, TUNING_PIT_D, TUNING_PIT_FF };
 
 // macro to prevent getting the array length wrong
 #define TUNING_ARRAY(v) ARRAY_SIZE(v), v
@@ -53,6 +56,9 @@ const AP_Tuning_Plane::tuning_set AP_Tuning_Plane::tuning_sets[] = {
     { TUNING_SET_RATE_PITCHDP,          TUNING_ARRAY(tuning_set_rate_pitchDP) },
     { TUNING_SET_RATE_ROLLDP,           TUNING_ARRAY(tuning_set_rate_rollDP) },
     { TUNING_SET_RATE_YAWDP,            TUNING_ARRAY(tuning_set_rate_yawDP) },
+    { TUNING_SET_DP_ROLL_PITCH,         TUNING_ARRAY(tuning_set_dp_roll_pitch) },
+    { TUNING_SET_PIDFF_ROLL,            TUNING_ARRAY(tuning_set_pidff_roll) },
+    { TUNING_SET_PIDFF_PITCH,           TUNING_ARRAY(tuning_set_pidff_pitch) },
     { 0, 0, nullptr }
 };
 
diff --git a/ArduPlane/tuning.h b/ArduPlane/tuning.h
index 4334455a09657f..9e63bf729d7042 100644
--- a/ArduPlane/tuning.h
+++ b/ArduPlane/tuning.h
@@ -94,6 +94,9 @@ class AP_Tuning_Plane : public AP_Tuning
         TUNING_SET_RATE_PITCHDP =            8,
         TUNING_SET_RATE_ROLLDP =             9,
         TUNING_SET_RATE_YAWDP =             10,
+        TUNING_SET_DP_ROLL_PITCH =          11,
+        TUNING_SET_PIDFF_ROLL =             12,
+        TUNING_SET_PIDFF_PITCH =            13,
     };
 
     AP_Float *get_param_pointer(uint8_t parm) override;
@@ -112,6 +115,9 @@ class AP_Tuning_Plane : public AP_Tuning
     static const uint8_t tuning_set_rate_pitchDP[];
     static const uint8_t tuning_set_rate_rollDP[];
     static const uint8_t tuning_set_rate_yawDP[];
+    static const uint8_t tuning_set_dp_roll_pitch[];
+    static const uint8_t tuning_set_pidff_roll[];
+    static const uint8_t tuning_set_pidff_pitch[];
 
     // mask of what params have been set
     uint64_t have_set;
diff --git a/libraries/AP_Tuning/AP_Tuning.cpp b/libraries/AP_Tuning/AP_Tuning.cpp
index 490416fdab8405..c10e5b1253e539 100644
--- a/libraries/AP_Tuning/AP_Tuning.cpp
+++ b/libraries/AP_Tuning/AP_Tuning.cpp
@@ -123,6 +123,7 @@ void AP_Tuning::re_center(void)
     AP_Float *f = get_param_pointer(current_parm);
     if (f != nullptr) {
         center_value = f->get();
+        old_value = 0.0;
     }
     mid_point_wait = true;
 }
@@ -202,10 +203,10 @@ void AP_Tuning::check_input(uint8_t flightmode)
 
     //hal.console->printf("chan_value %.2f last_channel_value %.2f\n", chan_value, last_channel_value);
 
+    const float dead_zone = 0.02;
     if (mid_point_wait) {
         // see if we have crossed the mid-point. We use a small deadzone to make it easier
         // to move to the "indent" portion of a slider to start tuning
-        const float dead_zone = 0.02;
         if ((chan_value > dead_zone && last_channel_value > 0) ||
             (chan_value < -dead_zone && last_channel_value < 0)) {
             // still waiting
@@ -213,7 +214,6 @@ void AP_Tuning::check_input(uint8_t flightmode)
         }
         // starting tuning
         mid_point_wait = false;
-        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Tuning: mid-point %s", get_tuning_name(current_parm));
         AP_Notify::events.tune_started = 1;
     }
     last_channel_value = chan_value;
@@ -228,6 +228,15 @@ void AP_Tuning::check_input(uint8_t flightmode)
     need_revert |= (1U << current_parm_index);
     set_value(current_parm, new_value);
 
+    if ( fabsf(new_value-old_value) > (0.05 * old_value) ) {
+        old_value = new_value;
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, 
+            "Tuning: %s%s%0.4f", 
+            get_tuning_name(current_parm), 
+            ((chan_value < dead_zone) && (chan_value > -dead_zone)) ? "> " : ": ", 
+            (double)(new_value));
+    }
+
 #if HAL_LOGGING_ENABLED
     Log_Write_Parameter_Tuning(new_value);
 #endif
diff --git a/libraries/AP_Tuning/AP_Tuning.h b/libraries/AP_Tuning/AP_Tuning.h
index 88ffda0c4b08ab..5aad12ea9b0192 100644
--- a/libraries/AP_Tuning/AP_Tuning.h
+++ b/libraries/AP_Tuning/AP_Tuning.h
@@ -64,6 +64,9 @@ class AP_Tuning
 
     uint32_t last_check_ms;
 
+    // last tuning value scaled
+    float old_value;
+    
     void Log_Write_Parameter_Tuning(float value);
     
     // the parameter we are tuning