I know that ArduPilot supports traditional helicopters, but I could not find any information confirming that this vehicle type has been tested on the VOXL 2 Mini.

Could you please clarify the following?

Can the VOXL 2 Mini QURT target compile and run the ArduPilot Traditional Helicopter (heli) firmware?

Are the required swashplate servo outputs, tail rotor servo, and throttle/governor outputs supported through the VOXL 2 IO board?

Are there any known limitations in the QURT hardware abstraction layer or the VOXL-specific ArduPilot integration that would prevent traditional helicopter operation?

Has anyone successfully tested this configuration, or would custom code changes be required?

I am willing to build ArduPilot from source and modify the platform-specific code if necessary.

Thank you for your help.