I'm having a lot of beginner's difficulty getting my quad in the air. I'm using the latest software and configurator, with a 1.7 shield having gyros and accelerometer. I've calibrated everything except the TowerPro ESCs ... those I initialised directly, outside the configurator.
Since I don't fancy holding the quad while doing the pre-flight checks, I put it on a takeoff platform, arm it, and stand back.
The symptoms of my problems are this:
1) At low throttle settings, with the quad flat on the platform, the front and right motors are spinning, but the left and rear aren't. If I tickle the throttle up, then the left and rear will fire up and continue even when I back off the throttle.
2) As I increase the throttle, the quad starts to lift equally on the front and right motors. By trimming the yaw, pitch and roll controls on the transmitter, I can get the front and right to settle down.
3) At this point, if I tickle the throttle upwards, the quad starts to rotate anti-clockwise on the platform. By adjusting the yaw trim I can almost stop that motion.
4) At this point, all the motors are spinning evenly, and the quad is sort of jiggling around looking as if it's waiting for just a little more throttle to get airborne. However, if I give it more throttle it invariably flips over (as if the front/right motors get disproportionally more power).
Another experiment I did was to look at the configurator's "Vehicle Status" display while I held the quad down on a table with one hand and varied the throttle with the other. The motor speeds were bouncing up and down until I used at least 1/2 throttle, then they became stable, with 1 and 3 being much higher than 2 and 4 ... this corresponds to Front and Rear being much higher than Right and Left, I believe (so not consistent with what I saw in 2) above).
The configuration is a "+", motors are TowerPro 2410, the props are APC 9x3/8 pullers on the Left/Right motors and APC 8x6 pushers on the Front/Rear motors (which rotate clockwise, looking from on top, I believe). The AUW is 2lbs 13oz (1.3kg). The battery is a 2560mAh Turnigy. Motor to motor distance is 29".
Any suggestions and advice most welcome. I suspect that I may have a screwed up software configuration.