The things I read indicate that ardupilot expects to be calibrated while stationary for gyros and accelerometers, however, with a gps location this is unnecessary - am I correct that ardupilot does not have the capability to calibrate gyros while in motion?
as long as the platform is not moving too rapidly during the gyro calibration... If the platform is moving too much however, the gyro calibration will fail
I read this before - this indicates it cant calibrate while moving rapidly.
Usually IMUs with gps signals are capable of continuously calibrating gyro biases while undergoing arbitrary motion.
Test it in you particular use case, with your “rapidly” moving. It might work fine.
Just make sure to configure it an tune it correctly first without movement, and in “normal” conditions. Once that works fine, move on to arming in rapidly moving platforms.