VTOL architecture working with caipirinha

Again, the PWM_OUTPUTS variable (which should be set to the MOTOR CHANNELS, so "12", NOT 2 (it is a list of channels, not a count)) sets the outputs which get configured with the output rate, as well as disarmed, min and max. So you should set the rate to 400 to get a good roll response - 50 Hz is a bit low for the ESC interface (although it might work).