diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index fff1dd567..a0b23bc22 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -718,7 +718,7 @@ const bool Z_MIN_PROBE_ENDSTOP_INVERTING = false; // set to true to invert the l
 //#define ENCODER_STEPS_PER_MENU_ITEM 5 // Set according to ENCODER_PULSES_PER_STEP or your liking
 //#define REVERSE_MENU_DIRECTION // When enabled CLOCKWISE moves UP in the LCD menu
 //#define ULTIMAKERCONTROLLER //as available from the Ultimaker online store.
-//#define ULTIPANEL  //the UltiPanel as on Thingiverse
+#define ULTIPANEL  //the UltiPanel as on Thingiverse
 //#define SPEAKER // The sound device is a speaker - not a buzzer. A buzzer resonates with his own frequency.
 //#define LCD_FEEDBACK_FREQUENCY_DURATION_MS 100 // the duration the buzzer plays the UI feedback sound. ie Screen Click
 //#define LCD_FEEDBACK_FREQUENCY_HZ 1000         // this is the tone frequency the buzzer plays when on UI feedback. ie Screen Click
diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 04a371c78..fdef1402e 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -5142,13 +5142,15 @@ inline void gcode_M226() {
 inline void gcode_M303() {
   int e = code_seen('E') ? code_value_short() : 0;
   int c = code_seen('C') ? code_value_short() : 5;
+  bool u = code_seen('U') && code_value_short() == 1;
+  
   float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
 
   if (e >=0 && e < EXTRUDERS)
     target_extruder = e;
 
   KEEPALIVE_STATE(NOT_BUSY);
-  PID_autotune(temp, e, c);
+  PID_autotune(temp, e, c, u);
 }
 
 #if ENABLED(SCARA)
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 054990daa..7785f4392 100644
--- a/Marlin/temperature.cpp
+++ b/Marlin/temperature.cpp
@@ -199,7 +199,7 @@ static void updateTemperaturesFromRawValues();
 //================================ Functions ================================
 //===========================================================================
 
-void PID_autotune(float temp, int extruder, int ncycles) {
+void PID_autotune(float temp, int extruder, int ncycles, bool set_result) {
   float input = 0.0;
   int cycles = 0;
   bool heating = true;
@@ -346,6 +346,23 @@ void PID_autotune(float temp, int extruder, int ncycles) {
       SERIAL_PROTOCOLPGM("#define  DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kp "); SERIAL_PROTOCOLLN(Kp);
       SERIAL_PROTOCOLPGM("#define  DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Ki "); SERIAL_PROTOCOLLN(Ki);
       SERIAL_PROTOCOLPGM("#define  DEFAULT_"); SERIAL_PROTOCOL(estring); SERIAL_PROTOCOLPGM("Kd "); SERIAL_PROTOCOLLN(Kd);
+      //Uses the result if set_result is true
+      if (set_result) {
+        if (extruder < 0) {
+          #if ENABLED(PIDTEMPBED)
+            bedKp = Kp;
+            bedKi = scalePID_i(Ki);
+            bedKd = scalePID_d(Kd);
+            updatePID();
+          #endif
+        }
+        else {
+          PID_PARAM(Kp, extruder) = Kp;
+          PID_PARAM(Ki, e) = scalePID_i(Ki);
+          PID_PARAM(Kd, e) = scalePID_d(Kd);
+          updatePID();
+        }
+      }
       return;
     }
     lcd_update();
diff --git a/Marlin/temperature.h b/Marlin/temperature.h
index 29a6920ce..83f531bd5 100644
--- a/Marlin/temperature.h
+++ b/Marlin/temperature.h
@@ -141,7 +141,7 @@ int getHeaterPower(int heater);
 void disable_all_heaters();
 void updatePID();
 
-void PID_autotune(float temp, int extruder, int ncycles);
+void PID_autotune(float temp, int extruder, int ncycles, bool set_result);
 
 void setExtruderAutoFanState(int pin, bool state);
 void checkExtruderAutoFans();
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index e605948c9..06ae8144b 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1176,11 +1176,11 @@ static void lcd_control_temperature_menu() {
   #endif
 
   //
-  // PID-P, PID-I, PID-D, PID-C
-  // PID-P E1, PID-I E1, PID-D E1, PID-C E1
-  // PID-P E2, PID-I E2, PID-D E2, PID-C E2
-  // PID-P E3, PID-I E3, PID-D E3, PID-C E3
-  // PID-P E4, PID-I E4, PID-D E4, PID-C E4
+  // PID-P, PID-I, PID-D, PID-C, PID Autotune
+  // PID-P E1, PID-I E1, PID-D E1, PID-C E1, PID Autotune E1
+  // PID-P E2, PID-I E2, PID-D E2, PID-C E2, PID Autotune E2
+  // PID-P E3, PID-I E3, PID-D E3, PID-C E3, PID Autotune E3
+  // PID-P E4, PID-I E4, PID-D E4, PID-C E4, PID Autotune E4
   //
   #if ENABLED(PIDTEMP)
 
@@ -1189,8 +1189,20 @@ static void lcd_control_temperature_menu() {
       raw_Kd = unscalePID_d(PID_PARAM(Kd, eindex)); \
       MENU_ITEM_EDIT(float52, MSG_PID_P ELABEL, &PID_PARAM(Kp, eindex), 1, 9990); \
       MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_I ELABEL, &raw_Ki, 0.01, 9990, copy_and_scalePID_i_E ## eindex); \
-      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D ELABEL, &raw_Kd, 1, 9990, copy_and_scalePID_d_E ## eindex)
-
+      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D ELABEL, &raw_Kd, 1, 9990, copy_and_scalePID_d_E ## eindex); \
+      if (eindex == 0) { \
+        MENU_ITEM(gcode, MSG_PID_AUTOTUNE ELABEL, PSTR("M303 U1")); \
+      } \
+      else if (eindex == 1) { \
+        MENU_ITEM(gcode, MSG_PID_AUTOTUNE ELABEL, PSTR("M303 U1 E1")); \
+      } \
+      else if (eindex == 2) { \
+        MENU_ITEM(gcode, MSG_PID_AUTOTUNE ELABEL, PSTR("M303 U1 E2")); \
+      } \
+      else { \
+        MENU_ITEM(gcode, MSG_PID_AUTOTUNE ELABEL, PSTR("M303 U1 E3")); \
+      }
+      
     #if ENABLED(PID_ADD_EXTRUSION_RATE)
       #define PID_MENU_ITEMS(ELABEL, eindex) \
         _PID_MENU_ITEMS(ELABEL, eindex); \