Start motors at idle rpm?

[dmalyuta]

The asctec_hl_comm package's mav_ctrl_motors.srv provides a service to start/stop the motors:

/////////// code from asctec_hl_interface/src/ctrl_test.cpp
asctec_hl_comm::mav_ctrl_motors::Request req;
asctec_hl_comm::mav_ctrl_motors::Response res;
req.startMotors = atoi(argv[2]); // 1 for turning the motors on
ros::service::call("fcu/motor_control", req, res);
std::cout << "motors running: " << (int)res.motorsRunning << std::endl;

How does one ensure that when the motors are started, their speed (rpm) is idle? In other words, that the motors, no matter what, do not spin up to a velocity that makes the quad take off until I sent explicitly the first waypoint command from my ROS node?