diff --git a/flight/Modules/Autotune/autotune.c b/flight/Modules/Autotune/autotune.c
index 776e9b842..ec44a7b72 100644
--- a/flight/Modules/Autotune/autotune.c
+++ b/flight/Modules/Autotune/autotune.c
@@ -50,6 +50,7 @@
 
 #include "pios.h"
 #include "flightstatus.h"
+#include "hwsettings.h"
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
 #include "relaytuning.h"
@@ -67,6 +68,7 @@ enum AUTOTUNE_STATE {AT_INIT, AT_START, AT_ROLL, AT_PITCH, AT_FINISHED, AT_SET};
 
 // Private variables
 static xTaskHandle taskHandle;
+static bool autotuneEnabled;
 
 // Private functions
 static void AutotuneTask(void *parameters);
@@ -79,6 +81,19 @@ static void update_stabilization_settings();
 int32_t AutotuneInitialize(void)
 {
 	// Create a queue, connect to manual control command and flightstatus
+#ifdef MODULE_AUTOTUNE_BUILTIN
+	autotuneEnabled = true;
+#else
+	HwSettingsInitialize();
+	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
+
+	HwSettingsOptionalModulesGet(optionalModules);
+
+	if (optionalModules[HWSETTINGS_OPTIONALMODULES_AUTOTUNE] == HWSETTINGS_OPTIONALMODULES_ENABLED)
+		autotuneEnabled = true;
+	else
+		autotuneEnabled = false;
+#endif
 
 	return 0;
 }
@@ -89,13 +104,13 @@ int32_t AutotuneInitialize(void)
  */
 int32_t AutotuneStart(void)
 {
-	
-	// Start main task
-	xTaskCreate(AutotuneTask, (signed char *)"Autotune", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
+	// Start main task if it is enabled
+	if(autotuneEnabled) {
+		xTaskCreate(AutotuneTask, (signed char *)"Autotune", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
 
-	//TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
-	//PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
-	
+		TaskMonitorAdd(TASKINFO_RUNNING_AUTOTUNE, taskHandle);
+		PIOS_WDG_RegisterFlag(PIOS_WDG_AUTOTUNE);
+	}
 	return 0;
 }
 
@@ -113,6 +128,8 @@ static void AutotuneTask(void *parameters)
 	portTickType lastUpdateTime = xTaskGetTickCount();
 
 	while(1) {
+
+		PIOS_WDG_UpdateFlag(PIOS_WDG_AUTOTUNE);
 		// TODO:
 		// 1. get from queue
 		// 2. based on whether it is flightstatus or manualcontrol
diff --git a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
index 10a7a41cd..85143fc17 100644
--- a/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
+++ b/flight/PiOS/Boards/STM32103CB_CC_Rev1.h
@@ -74,6 +74,7 @@ TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 #define PIOS_WDG_STABILIZATION   0x0002
 #define PIOS_WDG_ATTITUDE        0x0004
 #define PIOS_WDG_MANUAL          0x0008
+#define PIOS_WDG_AUTOTUNE        0x0010
 
 //------------------------
 // TELEMETRY
diff --git a/shared/uavobjectdefinition/hwsettings.xml b/shared/uavobjectdefinition/hwsettings.xml
index 0cee2a6d9..0a09a7620 100644
--- a/shared/uavobjectdefinition/hwsettings.xml
+++ b/shared/uavobjectdefinition/hwsettings.xml
@@ -18,7 +18,7 @@
 		<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,Disabled" defaultvalue="USBTelemetry"/>
 		<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
 
-		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,TxPID" options="Disabled,Enabled" defaultvalue="Disabled"/>
+		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,TxPID,Autotune" options="Disabled,Enabled" defaultvalue="Disabled"/>
 		<field name="DSMxBind" units=""  type="uint8"  elements="1" defaultvalue="0"/>
 
 		<access gcs="readwrite" flight="readwrite"/>
diff --git a/shared/uavobjectdefinition/taskinfo.xml b/shared/uavobjectdefinition/taskinfo.xml
index 40f0d4bdf..97582f7e5 100644
--- a/shared/uavobjectdefinition/taskinfo.xml
+++ b/shared/uavobjectdefinition/taskinfo.xml
@@ -1,9 +1,9 @@
 <xml>
     <object name="TaskInfo" singleinstance="true" settings="false">
         <description>Task information</description>
-        <field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
-	<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
-	<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
+        <field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune"/>
+	<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune"/>
+	<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="periodic" period="10000"/>