Stabilization (PIDs) adjustment?

I mounted a landing gear underneath a quadcopter that used too fly very stably.

Now with the added weight underneath it oscillates in pitch and roll - especially in a descent.

Furthermore, as expected because of the extra weight it takes more throttle now to hover and climb.

What PID adjustment should I make? (I’ve never had to adjust them from their default values).



run a autotune

Thanks Peter.

I only want to tweak the current settings since they worked perfectly until adding the weight underneath.

I read in the Arducopter tuning instructions that increasing the damping value can reduce the oscillations, so I’ll try that next.