When I first had the error, I placed the little guy on the ground and rotated it 360 degrees. As it says in the manual. I simply picked it up a bit and spun it around using the battery button as the axis point. Then the manual says to point it "nose down" and rotate it 360 degrees. I spun it 360 using the same axis point. The battery button.
In other words, the first part worked properly, the second failed.
The failure was due to me using the wrong axis to rotate on.I should have rotated it, when pointed nose down, on an axis from nose to tail.
And, I kind of liked the 'twist/turn' kind of thing. I realized it was a bit of entertainment.
It is not the method that I used.