diff --git a/meta-opencentauri/images/opencentauri-image-base.bb b/meta-opencentauri/images/opencentauri-image-base.bb
index a2281ced..e729cb54 100644
--- a/meta-opencentauri/images/opencentauri-image-base.bb
+++ b/meta-opencentauri/images/opencentauri-image-base.bb
@@ -45,6 +45,7 @@ CORE_IMAGE_EXTRA_INSTALL += "\
     v4l-utils \
     iproute2 \
     chrony \
+    tmc-autotune \ 
 "
 
 INITRAMFS_IMAGE = "core-image-tiny-initramfs"
diff --git a/meta-opencentauri/recipes-apps/klipper/files/machine.cfg b/meta-opencentauri/recipes-apps/klipper/files/machine.cfg
index cf82b8f9..b1a10e99 100644
--- a/meta-opencentauri/recipes-apps/klipper/files/machine.cfg
+++ b/meta-opencentauri/recipes-apps/klipper/files/machine.cfg
@@ -74,6 +74,9 @@ sense_resistor: 0.1
 driver_sgthrs: 130
 diag_pin: !PG4
 
+[autotune_tmc stepper_x]
+motor: kelimotor-bj42d41-14v19
+sg4_thrs: 130
 
 [stepper_y]
 step_pin: PE14
@@ -101,6 +104,9 @@ sense_resistor: 0.1
 driver_sgthrs: 130
 diag_pin: !PF6
 
+[autotune_tmc stepper_y]
+motor: kelimotor-bj42d41-14v19
+sg4_thrs: 130
 
 [stepper_z]
 step_pin: PG3
@@ -118,7 +124,6 @@ homing_retract_dist: 10
 homing_retract_speed: 6
 second_homing_speed: 2
 
-
 [tmc2209 stepper_z]
 tx_pin: PE9
 uart_pin: PE6
@@ -129,6 +134,8 @@ sense_resistor: 0.1
 driver_sgthrs: 130
 stealthchop_threshold: 99999
 
+[autotune_tmc stepper_z]
+motor: kelimotor-bj42d22-25v04
 
 [extruder]
 step_pin: hotend:PC13
@@ -163,6 +170,9 @@ run_current: 0.7
 uart_address: 3
 sense_resistor: 0.1
 
+[autotune_tmc extruder]
+motor: kelimotor-bjy36d13-04v28
+
 [verify_heater extruder]
 
 [thermistor hotend_thermistor]
diff --git a/meta-opencentauri/recipes-data/klipper-tmc-autotune-addon/files/motor_database.cfg b/meta-opencentauri/recipes-data/klipper-tmc-autotune-addon/files/motor_database.cfg
new file mode 100644
index 00000000..b3cfb90b
--- /dev/null
+++ b/meta-opencentauri/recipes-data/klipper-tmc-autotune-addon/files/motor_database.cfg
@@ -0,0 +1,23 @@
+[motor_constants kelimotor-bj42d41-14v19]
+# ELEGOO Centauri Carbon A/B
+resistance: 1.1
+inductance: 0.0028
+holding_torque: 0.650
+max_current: 2.0
+steps_per_revolution: 200
+
+[motor_constants kelimotor-bj42d22-25v04]
+# ELEGOO Centauri Carbon Z
+resistance: 2.9
+inductance: 0.0060
+holding_torque: 0.400
+max_current: 1.2
+steps_per_revolution: 200
+
+[motor_constants kelimotor-bjy36d13-04v28]
+# ELEGOO Centauri Carbon E
+resistance: 2.0
+inductance: 0.0012
+holding_torque: 0.100
+max_current: 1.2
+steps_per_revolution: 200
\ No newline at end of file
diff --git a/meta-opencentauri/recipes-data/klipper-tmc-autotune-addon/tmc-autotune_0.1.bb b/meta-opencentauri/recipes-data/klipper-tmc-autotune-addon/tmc-autotune_0.1.bb
new file mode 100644
index 00000000..616c4ace
--- /dev/null
+++ b/meta-opencentauri/recipes-data/klipper-tmc-autotune-addon/tmc-autotune_0.1.bb
@@ -0,0 +1,40 @@
+HOMEPAGE = "https://github.com/andrewmcgr/klipper_tmc_autotune"
+LICENSE = "GPL-3.0-only"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=1ebbd3e34237af26da5dc08a4e440464"
+SUMMARY = "TMC Autotune"
+DESCRIPTION = "TMC stepper driver autotuning Klipper python extra" 
+
+FILESEXTRAPATHS:prepend := "${THISDIR}/files:"
+
+SRC_URI = " \
+    git://github.com/andrewmcgr/klipper_tmc_autotune.git;protocol=https;branch=main \
+    file://motor_database.cfg \
+"
+
+SRCREV = "3f979750b758ac95c67e19f658f60566c19fff82"
+
+S = "${WORKDIR}/git"
+
+DEPENDS = " \
+    python3-native \
+"
+
+RDEPENDS:${PN} = " \
+    klipper \
+"
+
+do_configure[noexec] = "1"
+do_compile[noexec] = "1"
+
+do_install() {
+    # Install klippy extras
+    install -d ${D}${datadir}/klipper/klippy/extras
+    cp ${S}/autotune_tmc.py ${S}/motor_constants.py ${D}${datadir}/klipper/klippy/extras/
+    cp ${WORKDIR}/motor_database.cfg ${D}${datadir}/klipper/klippy/extras/
+}
+
+FILES:${PN} = " \
+    ${datadir}/klipper/klippy/extras/autotune_tmc.py \
+    ${datadir}/klipper/klippy/extras/motor_constants.py \
+    ${datadir}/klipper/klippy/extras/motor_database.cfg \
+"
\ No newline at end of file