Cargo quadrocopter. PIDs are

The quadrocopter without cargo flies well at PIDs P 0.180, I 0.07, D 0.087. With the load, it does not have enough P, so with the load, the PIDs are P 0.235 I 0.07, D 0.087. What are the options for solving the problem? How can I automatically switch PIDs when flying a mission? Or you can somehow link the PIDs and the level of hovering on a certain gas(for example, without a load, it flies on 25% of the gas and the first PIDs, with a load on 45% and the second PIDs)