4aa nimh cells don't put out enough voltage to work well with RC's. They only put out 1.2V per cell at a stable rate. You may see them charge up to 6V, but it will drop quickly then hold closer to 5V for a decent amount of time. This is why "hump" packs, or many packs designed for RC have 5 cells in them. They will peak out around 7V, but drop down closer to 6V and hold close to there for the duration as they die.
How do you know your losing 90%?
I have noticed that rechargeable cells don't hold a charge like alkaline cells do. I just make it a habit to charge everything the night before I go out, then peak them all first thing in the mornign as I'm getting ready.