With payload delivery and emplacement missions now increasingly popular, changes in mass and/or mass distribution during flight can leave a Copter significantly out of tune. A much needed/appreciated upgrade would be to enable two sets of tuning parameters onboard that can be selected along with or associated with a gripper command.
Tune it without payload. The same tune will mostly work with payload.
I decided to upload the new tuning parameters using DroneKit-Python. That way I can keep the aircraft in tune.
That is the best solution, yes.