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diff --git a/Marlin/src/gcode/temp/M303.cpp b/Marlin/src/gcode/temp/M303.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_PID_HEATING
+
+#include "../gcode.h"
+#include "../../lcd/marlinui.h"
+#include "../../module/temperature.h"
+
+#if ENABLED(EXTENSIBLE_UI)
+  #include "../../lcd/extui/ui_api.h"
+#endif
+
+/**
+ * M303: PID relay autotune
+ *
+ *  S<temperature>  Set the target temperature. (Default: 150C / 70C)
+ *  E<extruder>     Extruder number to tune, or -1 for the bed. (Default: E0)
+ *  C<cycles>       Number of times to repeat the procedure. (Minimum: 3, Default: 5)
+ *  U<bool>         Flag to apply the result to the current PID values
+ *
+ * With PID_DEBUG:
+ *  D               Toggle PID debugging and EXIT without further action.
+ */
+
+#if ENABLED(PID_DEBUG)
+  bool pid_debug_flag = 0;
+#endif
+
+void GcodeSuite::M303() {
+
+  #if ENABLED(PID_DEBUG)
+    if (parser.seen('D')) {
+      pid_debug_flag = !pid_debug_flag;
+      SERIAL_ECHO_START();
+      SERIAL_ECHOPGM("PID Debug ");
+      serialprintln_onoff(pid_debug_flag);
+      return;
+    }
+  #endif
+
+  #define SI TERN(PIDTEMPBED, H_BED, H_E0)
+  #define EI TERN(PIDTEMP, HOTENDS - 1, H_BED)
+  const heater_id_t e = (heater_id_t)parser.intval('E');
+  if (!WITHIN(e, SI, EI)) {
+    SERIAL_ECHOLNPGM(STR_PID_BAD_EXTRUDER_NUM);
+    TERN_(EXTENSIBLE_UI, ExtUI::onPidTuning(ExtUI::result_t::PID_BAD_EXTRUDER_NUM));
+    return;
+  }
+
+  const int c = parser.intval('C', 5);
+  const bool u = parser.boolval('U');
+  const int16_t temp = parser.celsiusval('S', e < 0 ? PREHEAT_1_TEMP_BED : PREHEAT_1_TEMP_HOTEND);
+
+  #if DISABLED(BUSY_WHILE_HEATING)
+    KEEPALIVE_STATE(NOT_BUSY);
+  #endif
+
+  LCD_MESSAGEPGM(MSG_PID_AUTOTUNE);
+  thermalManager.PID_autotune(temp, e, c, u);
+  ui.reset_status();
+}
+
+#endif // HAS_PID_HEATING