Not that I'm aware of... but when I try out new PID-settings I tie my quad to four pieces of string, tied to four bricks. Kind of low tech, but does the trick.
A flight controller in its most basic form isn't extremely complicated. It takes input from a gyroscope and distributes more power to the lower side. You can easily make a testing environment with the frame and motors, so without props attached.
Also, the APM mission planner software has a setup tool that takes input from both the transmitter and the flight controller. Maybe you can find a way to make that work for you.
The multirotor forum and the rcgroups.com forum have tons of resources about multirotors. Also, feel free to drop me a line if you have any questions. I'm by no means an expert, though!
