An all-terrain motor vehicle, which is a forestry machine and comprises a front driveline comprising one or more rotatable first tyres and a first input shaft connected with the one or more first tyres for transmitting rotation from a machinery to the one or more rotatable first tyres; a rear driveline comprising one or more rotatable second tyres and a second input shaft connected with the one or more second tyres for transmitting rotation from a machinery to the one or more rotatable second tyres; a machinery for rotating the first input shaft and the second input shaft with independently adjustable rotation speeds and torques; a control system for controlling the machinery, wherein the machinery comprises a first motor for rotating the first input shaft; and a second motor for rotating the second input shaft, the control system being configured to control rotation of the first motor and the second motor; characterized in that the control system is configured to control rotation of the first motor and rotation of the second motor and/or transmit signals to a user via a user interface of the motor vehicle, based on magnitude of one or more parameters including a load-dependent parameter of the one or more first tyres and a load-dependent parameter of the one or more second tyres; and wherein said load-dependent parameter of the one or more first tyres is a force directed on an outer surface of said one or more first tyres, and said load-dependent parameter of the one or more second tyres is a force directed on an outer surface of said one or more second tyres; and wherein the motor vehicle comprises one or more first sensing devices mounted on one or more of the first tyres for sensing a force directed on an outer surface of the tyre, preferably at least in radial direction of the tyre, which one or more first sensing devices are connected with the control system, preferably with an analyzing unit thereof; and one or more second sensing devices mounted on one or more of the second tyres for sensing a force directed on an outer surface of the tyre, preferably at least in radial direction of the tyre, which one or more second sensing devices are connected with the control system, preferably with an analyzing unit thereof. a front driveline comprising one or more rotatable first tyres and a first input shaft connected with the one or more first tyres for transmitting rotation from a machinery to the one or more rotatable first tyres; a rear driveline comprising one or more rotatable second tyres and a second input shaft connected with the one or more second tyres for transmitting rotation from a machinery to the one or more rotatable second tyres; a machinery for rotating the first input shaft and the second input shaft with independently adjustable rotation speeds and torques; a control system for controlling the machinery, wherein the machinery comprises a first motor for rotating the first input shaft; and a second motor for rotating the second input shaft, the control system being configured to control rotation of the first motor and the second motor; characterized in that the control system is configured to control rotation of the first motor and rotation of the second motor and/or transmit signals to a user via a user interface of the motor vehicle, based on magnitude of one or more parameters including a load-dependent parameter of the one or more first tyres and a load-dependent parameter of the one or more second tyres; and wherein said load-dependent parameter of the one or more first tyres is a force directed on an outer surface of said one or more first tyres, and said load-dependent parameter of the one or more second tyres is a force directed on an outer surface of said one or more second tyres; and wherein the motor vehicle comprises one or more first sensing devices mounted on one or more of the first tyres for sensing a force directed on an outer surface of the tyre, preferably at least in radial direction of the tyre, which one or more first sensing devices are connected with the control system, preferably with an analyzing unit thereof; and one or more second sensing devices mounted on one or more of the second tyres for sensing a force directed on an outer surface of the tyre, preferably at least in radial direction of the tyre, which one or more second sensing devices are connected with the control system, preferably with an analyzing unit thereof.