diff --git a/ArduCopter/tuning.cpp b/ArduCopter/tuning.cpp
index a0bb8f7b82..5bca6e61f7 100644
--- a/ArduCopter/tuning.cpp
+++ b/ArduCopter/tuning.cpp
@@ -37,70 +37,70 @@ void Copter::tuning()
 
     // Roll, Pitch tuning
     case TUNING_STABILIZE_ROLL_PITCH_KP:
-        attitude_control->get_angle_roll_p().kP(tuning_value);
-        attitude_control->get_angle_pitch_p().kP(tuning_value);
+        attitude_control->get_angle_roll_p().set_kP(tuning_value);
+        attitude_control->get_angle_pitch_p().set_kP(tuning_value);
         break;
 
     case TUNING_RATE_ROLL_PITCH_KP:
-        attitude_control->get_rate_roll_pid().kP(tuning_value);
-        attitude_control->get_rate_pitch_pid().kP(tuning_value);
+        attitude_control->get_rate_roll_pid().set_kP(tuning_value);
+        attitude_control->get_rate_pitch_pid().set_kP(tuning_value);
         break;
 
     case TUNING_RATE_ROLL_PITCH_KI:
-        attitude_control->get_rate_roll_pid().kI(tuning_value);
-        attitude_control->get_rate_pitch_pid().kI(tuning_value);
+        attitude_control->get_rate_roll_pid().set_kI(tuning_value);
+        attitude_control->get_rate_pitch_pid().set_kI(tuning_value);
         break;
 
     case TUNING_RATE_ROLL_PITCH_KD:
-        attitude_control->get_rate_roll_pid().kD(tuning_value);
-        attitude_control->get_rate_pitch_pid().kD(tuning_value);
+        attitude_control->get_rate_roll_pid().set_kD(tuning_value);
+        attitude_control->get_rate_pitch_pid().set_kD(tuning_value);
         break;
 
     // Yaw tuning
     case TUNING_STABILIZE_YAW_KP:
-        attitude_control->get_angle_yaw_p().kP(tuning_value);
+        attitude_control->get_angle_yaw_p().set_kP(tuning_value);
         break;
 
     case TUNING_YAW_RATE_KP:
-        attitude_control->get_rate_yaw_pid().kP(tuning_value);
+        attitude_control->get_rate_yaw_pid().set_kP(tuning_value);
         break;
 
     case TUNING_YAW_RATE_KD:
-        attitude_control->get_rate_yaw_pid().kD(tuning_value);
+        attitude_control->get_rate_yaw_pid().set_kD(tuning_value);
         break;
 
     // Altitude and throttle tuning
     case TUNING_ALTITUDE_HOLD_KP:
-        pos_control->get_pos_z_p().kP(tuning_value);
+        pos_control->get_pos_z_p().set_kP(tuning_value);
         break;
 
     case TUNING_THROTTLE_RATE_KP:
-        pos_control->get_vel_z_pid().kP(tuning_value);
+        pos_control->get_vel_z_pid().set_kP(tuning_value);
         break;
 
     case TUNING_ACCEL_Z_KP:
-        pos_control->get_accel_z_pid().kP(tuning_value);
+        pos_control->get_accel_z_pid().set_kP(tuning_value);
         break;
 
     case TUNING_ACCEL_Z_KI:
-        pos_control->get_accel_z_pid().kI(tuning_value);
+        pos_control->get_accel_z_pid().set_kI(tuning_value);
         break;
 
     case TUNING_ACCEL_Z_KD:
-        pos_control->get_accel_z_pid().kD(tuning_value);
+        pos_control->get_accel_z_pid().set_kD(tuning_value);
         break;
 
     // Loiter and navigation tuning
     case TUNING_LOITER_POSITION_KP:
-        pos_control->get_pos_xy_p().kP(tuning_value);
+        pos_control->get_pos_xy_p().set_kP(tuning_value);
         break;
 
     case TUNING_VEL_XY_KP:
-        pos_control->get_vel_xy_pid().kP(tuning_value);
+        pos_control->get_vel_xy_pid().set_kP(tuning_value);
         break;
 
     case TUNING_VEL_XY_KI:
-        pos_control->get_vel_xy_pid().kI(tuning_value);
+        pos_control->get_vel_xy_pid().set_kI(tuning_value);
         break;
 
     case TUNING_WP_SPEED:
@@ -127,15 +127,15 @@ void Copter::tuning()
         break;
 
     case TUNING_RATE_PITCH_FF:
-        attitude_control->get_rate_pitch_pid().ff(tuning_value);
+        attitude_control->get_rate_pitch_pid().set_ff(tuning_value);
         break;
 
     case TUNING_RATE_ROLL_FF:
-        attitude_control->get_rate_roll_pid().ff(tuning_value);
+        attitude_control->get_rate_roll_pid().set_ff(tuning_value);
         break;
 
     case TUNING_RATE_YAW_FF:
-        attitude_control->get_rate_yaw_pid().ff(tuning_value);
+        attitude_control->get_rate_yaw_pid().set_ff(tuning_value);
         break;
 #endif
 
@@ -154,27 +154,27 @@ void Copter::tuning()
         break;
 
     case TUNING_RATE_PITCH_KP:
-        attitude_control->get_rate_pitch_pid().kP(tuning_value);
+        attitude_control->get_rate_pitch_pid().set_kP(tuning_value);
         break;
 
     case TUNING_RATE_PITCH_KI:
-        attitude_control->get_rate_pitch_pid().kI(tuning_value);
+        attitude_control->get_rate_pitch_pid().set_kI(tuning_value);
         break;
 
     case TUNING_RATE_PITCH_KD:
-        attitude_control->get_rate_pitch_pid().kD(tuning_value);
+        attitude_control->get_rate_pitch_pid().set_kD(tuning_value);
         break;
 
     case TUNING_RATE_ROLL_KP:
-        attitude_control->get_rate_roll_pid().kP(tuning_value);
+        attitude_control->get_rate_roll_pid().set_kP(tuning_value);
         break;
 
     case TUNING_RATE_ROLL_KI:
-        attitude_control->get_rate_roll_pid().kI(tuning_value);
+        attitude_control->get_rate_roll_pid().set_kI(tuning_value);
         break;
 
     case TUNING_RATE_ROLL_KD:
-        attitude_control->get_rate_roll_pid().kD(tuning_value);
+        attitude_control->get_rate_roll_pid().set_kD(tuning_value);
         break;
 
 #if FRAME_CONFIG != HELI_FRAME
@@ -184,7 +184,7 @@ void Copter::tuning()
 #endif
 
     case TUNING_RATE_YAW_FILT:
-        attitude_control->get_rate_yaw_pid().filt_E_hz(tuning_value);
+        attitude_control->get_rate_yaw_pid().set_filt_E_hz(tuning_value);
         break;
 
     case TUNING_SYSTEM_ID_MAGNITUDE: