I got a quadcopter with an Xbee set for telemetry. I know it would be wise to get a radio but that is no longer an option. When I attempted my first take off, the quadcopter immediately flipped. I checked the APM orientation (made sure it was facing forward), props location, wiring, and ensured level ground. All that's left as far as I know is to calibrate the ESCs. However the documentation only explains how to do this with a radio.
How can I calibrate using my means of connection?