I am new to the ardupilot and I am just starting to set mine up. I have “bad gyro health” on the screen and the machine is moving all round on the screen. And I can’t seem to calibrate the esc’s. I did the initial set up and it seemed to be ok.
How about providing some specific details about your setup such as flight controller ( is it a clone?), GCS, software version, etc. and then maybe we can help you.
I have a ardupilots 2.6 it is not a clone. And the firmware is Arducopter V3.1.2 Hexa. Does this help?