I would really be concerned if the battery cells got very warm. However, for the sake of safety and peace of mind I would charge them up, discharge them then charge them up again. Compare the discharge time/capacity from full charge to the times/capacities you obtained from past discharges from full charges when you knew the batteries were fine. If there is no time/capacity difference shown from previous discharge times/capacities then you are probably fine. I don't know if the long term capacity retention has been affected. But you most likely charge then fly without an appreciable amount of time between.