It's glued to the foam which is glued with a double-sided tape to the body.
Then there's a zip tie which holds it in place. I tried my best to make it less prone to vibrations as possible.
About the PI settings, I got this controller
, flashed with KK v4.7. I'm not sure how to tell the exact P and I.
All I can say is that the roll and pitch pots are at about %25-30 from minimim position.
The yaw pot is at %50.