I know the manual states do not go into or out of travel mode on carpet, only use a smith surface, but it did not explain why. I thought it probably had something to do with it snagging on the carpet when the legs move in and out while it is also moving up an down. Last night I did an IMU calibration for the first time and at the end attempted to go into travel mode, now wait for it... It was on carpet!!! I was convinced my Inspire was defected, it kept retracting the legs so much that the legs go up in the air, resting the weight on the main body. I tried several times with the same results. I even tried to fix it into the case that way (will not fit). Clearly my new Inspire needs a new alignment, but I do not remember that being some sort of calibration step. The it dawned on me "not on carpet". I tried it on top of the case and it worked perfect! Apparently it uses the sonar and can not see the carpet. Now, it would have make sense to explain that when it stated "thou shall not...". Now that I understand why, I now have a question. What other surfaces cause a problem? Grass? Sand? Gravel? Glass? I am also thinking I should have some sort of launching pad. Any thoughts?