Ok. I'm gonna jump in here on what "mode" means when calibrating the CX20. I calibrated mine sorta by accident . I didn't read the manual and used the procedure for my Super X Mini controller. It worked. When I read the manual I found that what I did was similar enough that it completed the calibration. The manual is a typical POS Chinese manual so you have to read between the lines. When you read part 3, section 2 of your manual you will see how to adjust the FLIGHT modes. Part 5 describes those modes In part 4, section4 of the manual it describes compass calibration. Here is my take on this. Manual mode is flight mode (1). Stable mode is flight mode (2) See part 5 of the manual. With the props removed put your Tx into flight mode (2) and follow the instructions in the mode (2) part of compass calibration. Unplug the battery. Put your Tx in flight mode (1). Plug in the battery and follow the instructions in the mode (1) part of compass calibration, lean over and spin the quad, by hand, 5 times horizontally in one direction then do the same , by hand, while holding the quad vertically. Unplug the battery. When you plug back in and arm the motors you should be good to go. Please,please don't do that stupid dance they show on the videos. There is no reason for you to loose your manhood while programming a quadcopter!!