Quadcopter - What is wrong ?

Last 2 days I made few tests with motors ON

 All tests confirm my previous vitual tests. But reality is not virtual and the quadcopter does not do what I thought !

As in my  previous vitual tests, for the first test, I tilted my platform in front and start the quadcopter with motors ON. I thought the lower side will raise to go and stay in horizontal position. In fact, the lower side raised as expected but it did not stop to raise when it got horizontal position. It raised again and then the quadcopter turn over the other side....

Considering another little problem which is sometimes at startup only 3 of 4 motors starts normally. I suspect pigpio library not to do the job. Is this libray able to send PWM signal for all 4 motors ? Just remimber this is not a hardware PWM signal....

So today,.I don't know where to search...

 I am a little desperate...

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