Dead Motor Takeoff Prevention

Ardupilot provides mechanism to prevent flips on takeoff if a motor, or motors, is not operating at a minimum rpm due to damage. It requires that ESC RPM telemetry is being used. See the ESC Telemetry - Average Motor RPM section of RPM Measurement for setup.

Then, by setting the TKOFF_RPM_MIN slightly below the MOT_SPIN_ARM, if the average rpm is lower than this, throttle increases will not be passed on, preventing a takeoff and an immediate flip.