Send me your config please! Reverting back shouldn’t be necessary
Thanks I’ll send it over shortly although @Jezza has spent a lot of time looking at it aswell and there is no obvious issue
So did you manage to stop your motor spinning uncontrollably?
Runs like a dream! At least till I plug it in again 
I think it might be relatively easy to fix, however I don’t have the motor in front of me and the same parameters for each motor won’t necessarily work.
The reason for the motor continuing to spin is different in each mode. In Torque mode the following applies:
“Do you mean the motor keeps spinning even with a zero torque command? This is normal although fixable. What’s probably going on is there are slight current offset biases in the measurement, so when you command 0A, it might still be providing a few amps of torque due to sensor offsets. This means that if the prop were under water, it’d most likely stop or slow down with a 0A command for this configuration. To make this problem go away or get much better, if you make the “Current Command Offset” parameter in the A. Control section a higher negative number (default is -0.15), it’ll be more inclined to stop for a 0A current command.”
In speed mode that doesn’t apply and instead the following applies:
“This is setup with the “Slew Up” and “Slew Down” parameters in the H. RPM Loop section. Defaults are very low to make autotune a gentle and reliable process but you can set these much higher (although as you go up, speed and current loop tuning become more and more important, at some point you may find an instability).”
“When you’re running it at full throttle as currently configured, go to the Telemetry tab and look at the “Speed” field. Take that number (which is the actual measured speed of the motor, there’s not enough voltage to make it spin any faster) and go to the configuration tab, section H. RPM Loop, enter that as the Forward and Reverse RPM Command Max then send that config. See if that makes your problem go away on the throttle delay (I’m guessing the parameters for RPM command maxes are quite a bit higher than the actual measured max speed you will observe).”
If all of those are adjusted correctly in each mode, then the motor should stop in a decent amount of time.