Pardon my ignorance if this has been answered somewhere already but I am slightly confused when it comes to tuning the different components of the PID controller (ie roll, pitch, and yaw). I assume you can follow the standard procedure for P gains for all (meaning raise it until you get oscillations and then back it off a bit), but how would you tune I and D for the different axes? For roll do you just angle it on the roll axis and see if it holds its position rather than leveling off? I'm completely lost of what I would do for yaw :p. Any help is much appreciated! 

Have a look here: https://github.com/borisbstyle/betafligh...ning-Guide

Its the betaflight wiki but the principle is the same.

for tuning the I term basically you want to angle the quad forward and fly away. increase throttle as needed to maintain height. After you have achieved forward flight and returned the stick to centre the quad should remain at the same angle you set off at. If it pitches back up, you need more I on pitch.

The same principle applies to roll too. Roll it left or right, centre stick, maintain altitude with throttle. If it stays at the angle you moved it to, you are good. If it levels back out on its own, raise I.

For D i do flips and rolls. If it wobbles when you stop the roll or flip then increase D a little on the axis you are testing. Hard 180 turns are a good test for this too. Also throttle punches are a good test for D term. Punch the throttle so the quad shoots up. when it gets some decent height, drop the throttle low so it falls. if it wobbles as it comes down (prop wash oscillation) you can raise D a little.

For yaw, give it roughly 50% stick deflection and release the stick. You want it to stop sharply but not so sharply that is disturbs the altitude or makes the quad drop on the roll or pitch axis. You need to find the balance between stopping sharply enough when you give a fast yaw input and it not making the quad rise or fall or dip an arm in one direction or another. Raising D a little can help smooth out the dip when you centre the yaw if you are seeing that.