Is there a known good way to set the PID controllers on a hexcopter? I moved from an underpowered quad to an overpowered hex and it's (at least by comparison) very "squirrely". Very sensitive to manual inputs, and when I tried to fly it with the default PIDs it was borderline unstable (+/- 20 degrees in the roll) with no inputs applied. With half of the P gain, it flies, but it's not as stable as I'd wish it would be.
I'm imagining a tutorial or a recipe for setting the PID gains must be somewhere. Where?