Are there any parameters related to gyro sensor and motor signals?

ArduCopter Copter 4.0
1

My vehicle does not match the motor output according to the gyro sensor. I was wondering if there is a parameter like topic to solve this.

2

There is no expectation that it would. Explain in more detail what you are asking and what data you are using as reference for the question.

3

And update to ArduCopter 4.2.2