i use aurora 9 with my MR, simply set the ACRO "plane" mode and you can go on the assistant and check all the parameters.
the radio must be set as standard , no epa on the 4 channel, the only program you had to do is to assign to your favourite switch on the radio the x1 x2 and u of the naza to can set by adjust the endpoint the blue bar of the assistant to have gps-atti-falisafe/or manual into one 3 position switch, the ioc into another 3 channel switch for off/home lock/course lock and you can go ;-)
sorry for my bad english
peppe