I.m.u calibrating and what is it

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Exactly what is the I.m.u and how often should it be calibrated.
I just calibrated it cause I'm not sure I ever have. I have a p4 refurb
And during the calibration the camera had tilted to its max to the right,
( Me facing camera), and threw up a warning my gimbal was at its
Max. I had to reach over and gently pull it back down the opposite way. Do I need to recalibrate? Is something amiss?
Thank u
 
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