diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index a0b23bc225..fff1dd5677 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 fdef1402ea..9a21803da3 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -5142,7 +5142,7 @@ 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;
+  bool u = code_seen('U') && code_value_short() != 0;
   
   float temp = code_seen('S') ? code_value() : (e < 0 ? 70.0 : 150.0);
 
diff --git a/Marlin/temperature.cpp b/Marlin/temperature.cpp
index 7785f43928..a0ee3e8f5f 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, bool set_result) {
+void PID_autotune(float temp, int extruder, int ncycles, bool set_result /* = false */) {
   float input = 0.0;
   int cycles = 0;
   bool heating = true;
diff --git a/Marlin/temperature.h b/Marlin/temperature.h
index 83f531bd58..06c732f656 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, bool set_result);
+void PID_autotune(float temp, int extruder, int ncycles, bool set_result = false);
 
 void setExtruderAutoFanState(int pin, bool state);
 void checkExtruderAutoFans();
diff --git a/Marlin/ultralcd.cpp b/Marlin/ultralcd.cpp
index 06ae8144ba..1f76b1397b 100644
--- a/Marlin/ultralcd.cpp
+++ b/Marlin/ultralcd.cpp
@@ -1189,39 +1189,30 @@ 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); \
-      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")); \
-      }
+      MENU_ITEM_EDIT_CALLBACK(float52, MSG_PID_D ELABEL, &raw_Kd, 1, 9990, copy_and_scalePID_d_E ## eindex)
       
     #if ENABLED(PID_ADD_EXTRUSION_RATE)
-      #define PID_MENU_ITEMS(ELABEL, eindex) \
+      #define PID_MENU_ITEMS(ELABEL, eindex, AUTOTUNE_CMD) \
         _PID_MENU_ITEMS(ELABEL, eindex); \
-        MENU_ITEM_EDIT(float3, MSG_PID_C ELABEL, &PID_PARAM(Kc, eindex), 1, 9990)
+        MENU_ITEM_EDIT(float3, MSG_PID_C ELABEL, &PID_PARAM(Kc, eindex), 1, 9990); \
+        MENU_ITEM(gcode, MSG_PID_AUTOTUNE ELABEL, PSTR(AUTOTUNE_CMD))
     #else
-      #define PID_MENU_ITEMS(ELABEL, eindex) _PID_MENU_ITEMS(ELABEL, eindex)
+      #define PID_MENU_ITEMS(ELABEL, eindex, AUTOTUNE_CMD) \
+        _PID_MENU_ITEMS(ELABEL, eindex); \
+        MENU_ITEM(gcode, MSG_PID_AUTOTUNE ELABEL, PSTR(AUTOTUNE_CMD))
     #endif
 
     #if ENABLED(PID_PARAMS_PER_EXTRUDER) && EXTRUDERS > 1
-      PID_MENU_ITEMS(MSG_E1, 0);
-      PID_MENU_ITEMS(MSG_E2, 1);
+      PID_MENU_ITEMS(MSG_E1, 0, "M303 U1");
+      PID_MENU_ITEMS(MSG_E2, 1, "M303 U1 E1");
       #if EXTRUDERS > 2
-        PID_MENU_ITEMS(MSG_E3, 2);
+        PID_MENU_ITEMS(MSG_E3, 2, "M303 U1 E2");
         #if EXTRUDERS > 3
-          PID_MENU_ITEMS(MSG_E4, 3);
+          PID_MENU_ITEMS(MSG_E4, 3, "M303 U1 E3");
         #endif //EXTRUDERS > 3
       #endif //EXTRUDERS > 2
     #else //!PID_PARAMS_PER_EXTRUDER || EXTRUDERS == 1
-      PID_MENU_ITEMS("", 0);
+      PID_MENU_ITEMS("", 0, "M303 U1");
     #endif //!PID_PARAMS_PER_EXTRUDER || EXTRUDERS == 1
 
   #endif //PIDTEMP