Skid steering and gyro

I would like to use gyro and accelerometer assistance when steering my rover. How can I enable this function in the MP? Currently I’m using servo steering but will change it soon to skid steering - how can I use gyro/accelerometer steering with skid steering?

I have found using separate gyro on my 2WD rover useful, it helps it on rough terrain to go straight if one or more wheels lose grip. I know that I can use GPS but I’d rather use it for general direction holding and active gyro/accelerometer for shorter distances to gain more accuracy.

I believe that the ArduRover2 L1 code makes use of the IMU inputs as well as the GPS and compass inputs to provide steering heading whether you are using traditional steering or skid steering.
TCIII Developer