(image for reference)
The PID controller won’t shut off as long as the input throttle is higher than Min. Command. If Min. Command is set to 1000 and the Arm function is assigned to a switch on your radio, the Air Mode is activated automatically.
With Air Mode enabled, and the multirotor still on the ground, you might find the flight controller trying to regulate “something” though it is sitting still. This could result in the props spinning up, however this was addressed in firmware v1.02RC22.
Idle Up Switch
Similar to Air Mode, an Idle up switch provides nearly the same functionality. This configuration is done on your transmitter, but isn’t too difficult to complete.
Take a look at this video if you use a Taranis:
Arming and Airmode on a 3way switch