PID tuning large size multirotor

Dear friends, I am working in a large size spraying drone of 100kg with pixhawk cube flight controller (px4 software). How can I tune the PID gain? I feel the conventional tuning procedure is not safe for large size.
Please suggest some suitable method. Thank you.

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We are using this 6-axis platform to coarse tunning of regulators for our autogyros. You should probably modify it for your use with a multirotor.