The ODE developers intend their project as a framework for building custom physics engines. This has caused a serious conflict with GNU/Linux packagers who prefer shared libraries (for a good reason).
In lack of the ODE project's leadership acknowledging their community is using a shared library, we have ODE built with different options on different distros and thus behaving differently. To my knowledge there's no way to turn on/off optional features (ie, gyro) or even a naming convention for linking against ODE built with a specific feature set.
I really wish someone more skilled at community project management would either fork ODE or build a new free software physics engine. We're tired of ODE.