Has anyone had a situation where their Ardrupilot based Quad/Hexacopter would be flying normally and then arbitrarily the motors go to full speed?

I am continuing to set up my “RTF” 3DR Hexacopter and have had this type of thing happen several times.  Luckily, it has only happened first when I did not have the props on and then later with the props on but the Hexacopter restrained so it would not take off.

Here is a little history on the issue.  A few days ago I tried to calibrate my ESCs but I never got the tones that were described in the 3DR instructions.  I noticed that when I connected the Flight Battery Pack, the ESCs would not initialize but the ESCs would start beeping and the motors would “twitch”.  Then after about 30 seconds one of the ESCs/Motors stop beeping.  Then after about another 30 seconds another ESC/ Motor stops beeping.  This continues until after about three minutes (less sometimes) all of the motors have stopped beeping.  Then I can ARM the APM and then, when I bring the throttle up the Hexacopter will start flying.

Then I re-calibrated the ESCs again.  It seemed to calibrate correctly and after the “confirmation” beep I raised the throttle and all of the motors spun up at the same speed.  Then I disconnected the Flight Battery and reconnected it again.  This time it sounded the initiation series of beeps (three beeps to indicate a 3S battery pack) then no beeping or twitching…. Hooray!

At this point I had the props off.  With the motors seeming to run okay, I would put in a Yaw input and I could hear the motors change speed but when I gave it a series of yaw and/or pitch or roll inputs, all of the sudden all six motors went to full speed and I could not get the speed to come down until I disconnected the Flight Battery pack.  This is not good!!  What do you think is causing this to happen?  Now that I have the ESCs calibrated should I change the setting of the “Travel Adjust” back to 100%, and/or should I adjust the “throttle trim” setting back to 50% (default)?  If I change the setting on either of these settings should I do the “Radio Calibration” using the Mission Planner software again?

Please let me know what you think because I do not want to try to fly my Hexacopter if it is going to arbitrarily go to full throttle on all six motors!

Thanks for your help.