Just to elaborate here a little:
The attitude loop outer P should be fine for anything. The default 2.5 means "If we're off in attitude by 10 degrees, try to move towards level at 10*2.5 = 25 deg/sec" which is reasonable for pretty much anything.
The inner loop P is fairly reasonable for most things. The default value of .002 means "to try and hit a 25 deg/sec target, adjust the motor speeds by 25 * .002 = .05 or 5% of axis authority until the error is less". This is reasonable for most things. It doesn't really have much to do with how "fast" the craft is.
The ratio of inner loop I to inner loop P is what really determines how "aggressive" the tune is. The default value is very, very, very un-aggressive, but generally sufficient to stop from slowly tipping over and to make it through an autotune. It was chosen for large craft with 400Hz update rates and without complementary PWM (damped light).