For your specific question... see post #2.
But honestly, you should keep a cool head instead of just reverting to an automated flight mode if you lose track of your drone.
Just release the stick as a first step, then switch over to the DJI Fly...
Not quite... symptomatic for a IMU in need of a calibration is usually drifting, and that in the approx. same direction (relative the AC), not a uncommanded yawing.
You can with a smaller aperture (less light in) "force" a longer shutter to compensate & by that get a smother video clip by introducing a small amount of motion blur... this is why you might need ND filters on fix aperture cameras.