Test Harness For PID Tuning (Video)
I tried to fashion a test harness out of rope and chairs to tune my PID values. It worked somewhat, but was fairly unstable. I need to come up with a more rigid setup. Nevertheless, I was able to test some numbers until one tweak sent the copter spinning way out of control and I stupidly stuck my hand in there to try to catch it. One of the props cut my finger. Another lesson learned: no hands near spinning propellers. Here is a very short video of me playing with PID constants.