PID tunning for arducopter 4.0 5" quad

In addition to this guide:

Where can I find more information for the tuning of a quad 200 5 "props 4.0 ?
Especially for PIDs.
Thanks a lot

This topic came up recently. You’ll find that the minimum values specified in the parameter pages of Mission Planner may be higher than the math on the tuning wiki page comes to. This is ok. The values are not actually restricted. Do the math and enter the values as you come up with from the tuning process wiki.