Turtle Mode = AMAZING!

Turtle mode by the amazing Ben Mack

https://www.reddit.com/r/fpvracing/comments/5lc1np/betaflight_anti_turtle_mode/

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
1000/1152/2000 min/center/max
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.