title_body: How do you use the PID controller to compensate for a higher weight?
upvoted_answer: I'm afraid there is no simple answer to this question. Adding weight to the quad will change the way it responds so in theory you would need to redo the tune from scratch.
  
  That being said, there are a few assumptions you can make.
  Since the weight goes up, the inertia goes up as well. So it will respond slower to stick movements and will have a bigger tendency to overshoot. To compensate for the slower reaction you can increase the P-gain and/or feedforward. To fight the overshoot (and the effect of the bigger P-gain) you will need to increase the D-gain as well.
  I assume I-gain will not be impacted a lot.