From 5f8ee1ea1a9cfb964d94f0fbfb91af4a4293da11 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 31 Jan 2016 15:14:17 +0100
Subject: [PATCH] Update caipirinha config

---
 .../init.d/13001_caipirinha_vtol              |  7 ++++-
 .../mixers/caipirinha_vtol.main.mix           | 27 +++++++++++++++----
 2 files changed, 28 insertions(+), 6 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
index cb4f4d5ac3..98143054ec 100644
--- a/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
+++ b/ROMFS/px4fmu_common/init.d/13001_caipirinha_vtol
@@ -1,9 +1,14 @@
 #!nsh
 #
-# @name Duorotor Tailsitter
+# @name Caipiroshka Duo Tailsitter
 #
 # @type VTOL Duo Tailsitter
 #
+# @output MAIN1 motor left
+# @output MAIN2 motor right
+# @output MAIN5 elevon left
+# @output MAIN6 elevon right
+#
 # @maintainer Roman Bapst <roman@px4.io>
 #
 
diff --git a/ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix b/ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix
index 5ae0f5588e..f07e0acb21 100644
--- a/ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix
+++ b/ROMFS/px4fmu_common/mixers/caipirinha_vtol.main.mix
@@ -1,10 +1,27 @@
-#!nsh
-# Caipirinha vtol mixer for PX4FMU
-#
-#===========================
+Caipirinha tailsitter mixer
+============================
+
+This file defines a mixer for the TBS Caipirinha tailsitter edition. This vehicle
+has two motors in total, one attached to each wing. It also has two elevons which
+are located in the slipstream of the propellers.
+
+Motor mixer
+------------
+When standing in front of the vehicle the first motor should be on the left side
+while the second motor should be on the right side.
+
 R: 2- 10000 10000 10000 0
 
-#mixer for the elevons
+Zero mixer (2x)
+---------------
+
+Z:
+
+Z:
+
+Elevons mixer
+--------------
+
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000