I don't have the answers for your particular vehicle, but I can tell you how to do the work. See these webinars on PID tuning:
PID Parameters Explained:
http://www.youtube.com/watch?v=16Clfh5eBzg&hd=1Tuning PID:
http://www.youtube.com/watch?v=SefKQb9y_B4&hd=1Helpful Hints on Idle Control:
http://www.youtube.com/watch?v=H-zHSvZ7PSg&hd=1To Tune the PID, with the engine at normal operating temp you set the Target IDLE RPM, then start by setting the Proportional, Integral and Derivative gain to zero, Setup the Adjust->Idle Control-> Normal Position Table to initially have an axis for Target Idle RPM (later you will want to add engine Temp). Now you can change the Target Idle RPM and tune the Normal Position Table to the values that will achieve that idle. With this baseline (open-loop) setup. Then change the target RPM and see how the system responds.
You can then add a small amount of integral gain, and play with proportional gain to allow you to set any idle RPM you want and achieve it quickly. You iterate on this to make sure you can support the full range of target idle RPMs you might wish to use.
There is a small amount of help shown for each parameter on the Setup screen, and the other tables (such as AIM RPM - start with that one) have additional help with F1.