"It seems that your Tx is not config properly. There are mix on throttle or ch3 is not throttle.
in pic 1 : is throttle full?
in pic 2 : what is the position of throttle?"

"Hello Escobar,
It seems that your Futaba Tx enters the failsafe mode.
check in failsafe option if throttle faisafe is activated.
Best"

"Fisrt of all if your ESCs aren't calibrated properly you can't flight safe.
Before autotune your PID your quad has to be able flight in alt hold mode (stabilize mode work also for autotune). No vibration, no trim in Tx, for autotune, follow this:…"

"Hi Gleen,
it seems that your first quad hadn't ESCs calibrated properly.
And the second hadn't good PID or your frame is too soft or over powered. Check your vibration curves (http://ardupilot.org/copter/docs/common-measuring-vibration.html)
I've…"

"Hi Leo,
it seems that your 3 positions switch is not configured. These 2 postes will help:
http://diydrones.com/profiles/blogs/configuring-turnigy-9x-with-ard...
http://diydrones.com/profiles/blogs/mode-switch-setup-for-turnigy-1
good luck"