Are helicopters supported?

Hello, I’d like to ask whether helicopters (i.e. vehicles using cyclic pitch control) are supported in PX4. I haven’t found any mention of helicopters in the documentation but AFAIR I think I saw some helicopter related code in PX4 a long time ago.

I’m curious (regardless of current helicopter support state) if there is any demand for using PX4 in helicopters … professional or not.