I have an idea of what COULD be going wrong, but I am also a noobie so take my advice with a grain of salt.
maybe the transmitter isn’t bound to the RX properly? (I’ve experienced something like this when the TX wasn’t bound properly to my RX, a constantly rotating avatar with some pitch and yaw)
Your one motor spooling up faster than the others may be related to this as well. If a corner motor is spooling up more than the others, that means the RX may be telling it to for some reason. You may not be actually touching the sticks on the TX, but SOMETHING is telling the FC to pitch forward and rotate… that could be why your avatar is spinning with or without the transmitter. We gotta figure out what is telling the FC to pitch forward and yaw rotate like that.
What type of transmitter are you using? Can you please post a link of the flight controller you are using?
Also if possible please post a CLI dump here so we can look over your settings. (Go to the CLI tab of cleanflight, type in “dump” on the command console and hit “enter”… this will pull up a Whole log of information from your flight controller. COPY and PASTE ALL of that information to this thread so we can see what settings you are using. )
As far as angle mode goes, it will probably get lift and fly okay as u are saying it does, but may fly really twitchy and odd. That may be because the FC is constantly spooling up that motor but the “self leveling” (angle mode) is constantly correcting that motor from spinning up faster and faster. So it may fly, but the FC may be working harder than it should to keep it level.
Now if you were to throw it into Acro mode (no mode selected) and just try to hover The quadcopter may not fly so well, because there will be no self leveling corrections on that faster spinning motor, and it may fly really unbalanced.
To my knowledge a stock PID tune SHOULD be fine to hover and cruise around on, especially in angle mode, so I wouldn’t worry so much about PID tuning yet . One you have diagnosed and corrected that constant pitch/yaw issue you could probably start messing around with the PIDs with successful results.
We were all new at one point… gotta start somewhere welcome to the forum, be sure to keep us updated and get that dump log copy and pasted here so we can try to get your quad flying properly.