Anything above zero throttle should work. The firmware will effectively boost the throttle to be able to give 100% actuator, so 1% throttle and full roll will give idle on one side and 100% on the other side, the approximate equivalent of 50% throttle and 100% roll.
One thing I found is that the cheap ESCs that do not have a crystal drift a lot when they warm up. A way to see this is before takeoff use one click of throttle and see that all motors are running with anything that is not zero throttle. Fly to warm up the motors. Land. Now see what one click of throttle stick does. On my ESC's, they don't run. To fix this I generally add about 20 or more to "slowest reliable spinning" when setting motor neutrals. This makes the issue a lot worse since the motors will stop and take at least a fraction of a second longer to start up. I noticed it with hard yaw one way then the other. A motor would stop and it would flip over. Now there is much less problem and it is a wiggle instead of a flip.