Ok… my file is tweaked for high performance fpv and has minimal filtering. Check your props for vibration or any damaged blades. It should fly perfect with the weight of a camera added. Something is wrong. Blow on the props while pinching the motor - feel for vibes and do a visual inspection for a bent blade
The problem with it not idling down is d term amplifing some kind of vibration
Next step would be to abandon my version of the software and go back to the stock file on github from silver13. It’s probably fine for line of sight flying.
@chrisdo - I took his level mode switch off of auxiliary 1 and put it on the flip channel. Although that’s not working … I don’t think toggling the start up state of aux will change it anymore. If stick gestures work it should though. But he can’t built a hex in keil himself for some unknown software issue