Earl Pomerantz, a developer and executive producer of the show, blogged about the cancellation of the show after its fourth season:

http://earlpomerantz.blogspot.com/2014/03/why-major-dad-ended-so-abruptly-and-why.html?m=1

Seems like there's quite a bit more to the story.

Edit: here's another:

http://earlpomerantz.blogspot.com/2014/04/was-major-dad-done-in-by-its-own-studio.html?m=1

He pointed out that when Major Dad moved to Fridays for those major dad fabs in the south like myself it was high school football night and he said it was before DVRs. Well we may have not had DVRs back then but we had VCRs!