1)you setup the ESC to utilize governor mode
2)your throtle curve will be like a straight line (y=#) or a "V" if youre advanced. where the constant is the throtle point at which your mainblades are spinning at 2200-2800rpm under load.
3)in governor mode, throtle points on the curve/stick no longer represent throtle percent. they represent a set blade rpm that you want to run. Only your ESC directly controls the throtle to keep the rotor rpm constant.

however you have a curve to customize things. perhaps you want it to have full throtle and full pitch at the end of the sticks if you plan on doing 3d. so it doesnt have to be a straight line.

pitch curve can be customized so you have liftoff at a certain point on the stick. for example, i keep my left stick at half because that represents 0degrees pitch. top represents full +10 degrees. and 3/4stick represents hovering pitch.

the bottom half of the stick is for negative pitch. autorotations, inverted, rolls, loops, etc.

i have a video showing basically how i have mine setup. (6megs and putfile is pretty slow so you might have to wait)
http://media.putfile.com/soft-start-idle-up

softstart spools my heli up by itself to the preset rpm (at the flick of the idle up switch) then it's good to go (i flick the collective a little to make it jump). gy240/401 is the best, i give no rudder inputs not like it's in the air for long though.