Ok @spudder,
Please update your software. The most recent update made it easier to disengage input hold when the joysticks aren’t exactly centered.
Please also disarm the ROV to prevent the motors from spinning. Also note that the ROV attempts to stabilize itself in every mode except MANUAL, so that will cause the propellers to spin on their own.
As for getting the ROV to move where you want it, you need to be sure to do the Motor Configuration step in the setup instructions.