Variable Control Rates?

What capability is there in Arducopter to adjust control rates while in flight? I have a Yuneec Typhoon H and it allows the pilot to adjust the pitch, roll, yaw, and climb rates using a knob. I found this to be a useful feature to adjust the control-ability between novice and advanced pilots.

Would this be as easy as keeping the Channel 6 in-flight tuning enabled? Can this be used to also control yaw and climb rates?

And side question, how might I go about automatically adjusting control rates based on a CAN message? Specifically, reducing climb rate is there is an error in the payload.