In order to lower the idle speed you’ll want to go into the configuration page on cleanflight. On the right side at the top of the page there is a tab for “minimum throttle”. This shouldn’t be over 1150, since this is the stock setting. I personally find that with my quads I can get away with between 1020-1040, with the flight mode “Air Mode” enabled. If you’re not in Air Mode then you’ll probably want to be between 1080-1120, depending on the motor/esc combo, size and weight of your quad. You’ll want to find the sweet spot where the quad looses altitude at a fast rate when throttle is at zero, but not so low that the quad loses authority when throttle is at zero.
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