You can adjust your PIDs, rates, and other parameters IN FLIGHT using your transmitter switches and Aux channels. This feature is called in-flight adjustments. I'll show you how to set it up, and I'll show you my custom setup for configuring all your PIDs purely from the transmitter.
The basic techniques in this video will work with any programmable transmitter. Folks who don't have a Taranis, I'm not sure that my custom setup will work for you.
My Flite Test Forum post about switch multiplexing is here:
To copy my PID adjustment setup, paste the following text into your CLI, hit Enter, then type "save" and hit Enter. You may need to tweak the exact end-points of the adjustment ranges depending on your channel calibration.
adjrange 0 0 1 950 1000 15 3
adjrange 1 0 1 1075 1125 16 3
adjrange 2 0 1 1175 1225 17 3
adjrange 3 0 1 1300 1350 18 3
adjrange 4 0 1 1400 1450 19 3
adjrange 5 0 1 1525 1575 20 3
adjrange 6 0 1 1625 1675 9 3
adjrange 7 0 1 1750 1800 10 3
adjrange 8 0 1 1850 1900 11 3