To answer my own question, it does not look like I need to redo the calibration.
Next issue... I used the following compiler configuration to see if it would fix the yaw issue and to enable the battery monitoring. The result was that I could arm the motors but the throttle did absolutely nothing and the motors just kept spinning at the idle/arm speed.
- dev head
- user 400Hz PWM
- enable barometric alt hold
- enable battery monitor
- enable automatic descent on low battery
Any ideas? I'll try out some other configurations. I'll also get my own compiling setup soon.