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In the highlighted sentence you say that we have to map throttle values from 1000 to 1700 to have 300us to to permit PID to do its function.
The question is : If I map throttle in range [1000:1700] I will never have motor that will spin at their 100% possibilities ?
I'm asking that because my Arduino nano quadcopter  flutters and also at 100% throttle won''t take off

in Arduino by (220 points)

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True, but you could increase the map from 1700 to more!
by (34.8k points)