What is good practices to get stable pose from SLAMDUNK?


I can not find in the documentation the steps to be followed in order to have stable SLAM on a drone.

Basically, I would like to know what good practices to follow when installing the SLAM DUNK on a drone. Is there a special/expected mounting procedure?
Does it only work under certain assumptions? Probably only indoors?
Are there parameters that can be tuned to improve the performance and the quality of /pose estimation?

Thanks in advance.