Once I calibrated compass - how/when would I recalibrate it ? or is it only done once per hardware configuration ?
Would a recalibration be needed when flying on a new site, or after some time ?
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If you have a good calibration then you can just leave it along unless you change something in the airframe.
Otherwise you can just enable the automatic compass learning (set COMPASS_LEARN to 1) and let APM take care of any changes. That is on by default, and should work well for most people.
Cheers, Tridge