Leveling the aircraft with Pixhawk before flying


I am working on a tail wheel fixed wing drone with Pixhawk Autopilot system. 

Every time I turn it ON, the aircraft creates some error in leveling the control surfaces. Mostly it happens with the Elevator. So, when I turn it ON, the aircraft elevator will be slightly up or down. Anyhow it will not be level straight. 

Is it necessary to level the aircraft before turning ON the Autopilot? If YES, can you explain the reason behind it?

Thank you so much for your help.

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