YES!! It's so simple and quick to do, why NOT do it for each flight! I will do it for every flight location change. Will not do it for repeat flights at the same location.
Because if your calibration already works why introduce the risk of a mis calbration either due to a software or hardware glitch or something like a buried cable or unknown source of interference? The risk is small but each time you do it you increase the chances of it going wrong.
Also if you routinely launch from a boat or similar then calibration would be a sure fire way to crash if you try calibrating on there.