Tesla is rolling out an update to its Autopilot systems to "smooth" driving input when autonomous features are activated on its range of electric cars.
It has been introduced to rectify an earlier software update that "lifted the strict speed limits" in Autopilot mode, says Electrek.
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That update increased the speed limit on Tesla's Autosteer and Traffic Aware Cruise Control to 90mph, but customers reportedly complained that the systems had become "rougher than what they were used to".
Musk told fans the old system was "safe, but unpleasant", while the new algorithm is "safer" and "super smooth".
Tesla owners can also expect an improved web browser and better parking and rain sensors.
However, Musk revealed that the updated sensors will only be available on second-generation Model S saloons as earlier versions don't carry the necessary hardware needed for the update.
Autopilot is a £5,000 optional extra when buying the Model S saloon and Model X SUV. It costs £6,000 to be added later.
Tesla will launch the software update in June, with Model S and X owners being notified through the car's 17.3ins touchscreen display.