I'm starting to test a pretty large new vehicle intended to be a test platform. On the 'bench' (dining room table) fastened down with tape & rubber-bands (3" of play) it seems a bit squirrelly in Attitude mode. Manageable, but pretty touchy.
FWIW this vehicle is about 4'5' across, has 9x 17" props, and weights ~14 lbs with a full battery & camera payload. Hovers @ just under 50% throttle which is expected performance.
Considering that 'the bigger they are the harder they fall', etc I'd like to avoid crashing my new toy. It's intended to generally hover in-place or move slowly while I test out various fault tolerance & redundancy ideas I've wanted to experiment with.
Looking at the LibrePilot defaults, the parameters seem more tuned towards acrobatics than to create a stable platform.
What parameter changes will 'de-tune' my vehicle without making it uncontrollably sluggish?
Can someone could point out the key attitude stabilization parameters I should look at?
Thanks.