IMU calibration worked for me.
I was really worried that I'd have a flyaway with this issue. MY
MA wouldn't hover with any stability. The first symptom of in-flight problems to come was in hover, when it yawed, slowly and always to the right. Then it would start drifting and accelerating to the right. Trying to control it only seemed to make it mad and it would head straight for some immovable object, in one case directly toward a tree, another toward my motorcycle. In those cases, I was able to gain some semblance of control and onto the ground without incident. It would fly without problems, then suddenly, like a sullen teenager, go its own way.
Obviously I was scared to death to fly more than a few meters distance or high. After IMU calibration, I put on the new MAS rotors which arrived in the mail while I was calibrating and did some low altitude tests. Seems fine now.
I detailed this behavior because I had trouble finding this thread and maybe it'll help snag some people having the same issues.
The video was, by the way, great - the photos in the Go 4 calibration were, in my estimation, confusing. The video's clear standard, left, right nose, rear and upside down description made it all make sense.