If you are running the motors with the props off and the quad just sitting there, this is completely normal behavior. The PID/gyro loops are active, and the quad is trying to correct itself and match your inputs. But since there are no props on, the quad isn't moving the way it is expecting to. It is due to I-term windup with Air Mode enabled, like here: https://www.youtube.com/watch?v=xBaefeQtA1c. Please stop revving the motors without props/load. The resulting damage is not covered under warranty.