When using yogurt, be sure to stir the contents of the container first, as the yogurt tends to separate over time. Whole milk yogurt is ideal here, but low-fat or non-fat yogurt would also work. Slideshow: More Chicken Recipes
In a large bowl, combine the yogurt, turmeric, cardamom, cayenne and salt. Add the chicken pieces and marinate at least 1 hour and up to 8 hours.
Light a grill or preheat a grill pan. Grill the chicken over moderately high heat, turning occasionally, until lightly charred and cooked through, 20 to 25 minutes. Transfer the chicken to a work surface and let rest for 5 minutes. Serve the chicken garnished with the cilantro.
The marinated chicken can be kept in the refrigerator for up to 8 hours before cooking. Bring to room temperature before grilling.