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I'm fairly new to them myself, but my friends tell me to go to the action groups screen and link the max torque setting for the rotor part to the main throttle. 
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The normal throttle controls then raise and lower the rotation speed of the propeller. 

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Once you get used to using propellers like Vanamonde has suggested (be sure to have your propeller DEPLOYED!), you can start using a more advanced method to control them. Assign one of the three "translate" action groups to control the propellers pitch, and you can have a great deal more control over your speed without touching the throttle!

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