How to calibrate the angle sensor of the direction

I have a 2002 4x4 Toyota Squoia Wagoneta, I had serious headaches with the ABS brake system and well repair it now so that it is perfect and the rapping and stability system is well needed to calibrate the new replacement of the direction angle sensor of this wagon. According to what I found on the webs Stability You must make the calibration to zero, I will also be useful that once I have made the calibration of the address angle sensor
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