Where as with NIMH's we would discharge them, with Lipo's it's bad to take the voltage to low. Most new Esc's have a cut off at around 3v per cell.
So back to your answer, I've never discharged them. Just charge, use, charge, use. I have two packs but usually just top the same pack up on a club night.
If they last a race they should be fine, even if the are past there best.
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