Step #1
Go to the Horizon Hobby site and read all of the 3D'n with Mike McConville series. Maybe print them out to take to the field with you.
http://www.horizonhobby.com/articles/1022.asp
Step #2
Get a 3D "beater" plane...fairly cheap, but capable. Hinge for at least 45 degree throws on tail surfaces...a little less on ailerons.
Mine's a Kyosho Cap232 60 size with a Saito 91 w/14X6. HS-425BB's on Aileron, HS-545 on Elevator, HS-605 on rudder. If you can afford a bigger bird, do it. They say the Doghouse Extreme is good for practice, too.
Step #3
Break-in the motor and tune/fly 'til RELIABLE! Just use recommended throws 'til the motor can be counted on from extended high-idle/low midrange to full throttle. During this couple of weeks, you are learning the plane as well. Practice stall/spin recovery over & over.
Step #4
Change to some cheap long servo arms (like Dubro super strength). Rudder and especially elevator - go for 45 degrees each way.
Step #5
Set up your tranny for normal rates and the 3D high rates Mike describes with a bunch of expo. Make sure you know how to find that elevator rate switch in a hurry!
Step #6
Get up really high, flip the rate switch and do what Mike said to do for each of the manuevers. All Hell will break loose, but then just release the sticks and let the nose drop while you switch to low rate elevator - then recover. You were really up there, right?
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You'll start to figure it out after a while. The freestyle videos available out there help with inspiration for recovery/transitions.
Using the plane descibed above, I was shaking like a leaf, but doing all of the moves but Hovering after the third flight (motor was already broken in).
Hovering/Torque Rolling seems to be a matter of practice, practice, practice.
Scott Kantrowitz