Description: Turtle mode by the amazing Ben Mack
Blheli_s hardware required
Hex for PIKO https://drive.google.com/file/d/0B8QyP4KbOlfQVWtxMkFmajhyYlU/view
Arming on switch (for safety)
Escs set to bidirectional or bidirectional rev if reverse to begin with
In betaflight, min_throttle and min_command 1150
Turtle mode on switch
That should do it. With turtle mode enabled, motor output should range from 1150 to 1000.