If your drone is flying normally, recalibrating the IMU or compass can't improve anything.Thanks for the response and I would have to agree, better safe than sorry and the process is very simple. It can only improve the stability of your UAV and should be viewed like any other maintenance.
If either needs recalibrating, you would know it.
The common better-safe-than-sorry comment isn't valid.
It's better to understand how your drone works and what recalibrating can and cannot do.