We drop parachutists reasonably regularly, and the procedures are covered in Australian CAO's. Go to
www.casa.gov.au for copies of CAO's, plus a small search will bring up parachute regs.
One hard & fast rule these days, hewn in tablets of stone in my ops manual, is NEVER take doors off the pilot's side! We had a B206 rolled inverted when 4 jumpers failed to follow the brief of departing evenly from opposite sides. Needless to say, the two that departed went from the port side, and the two remaining on the pilot's side put the cg somewhat over limits. To this day we have no idea how the second pair missed the rotors...
Lateral limits can be hit if the jumpers aren't well briefed, especially not to push themselves away from the aircraft. Very important that they step off the skids or doorway, and even then you can encounter quite severe cyclic demands, especially when we drop jumpers with deployable flags plus ballast weights, often over 50kg on top of their normal gear.