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ControlAllocator: Periodically spin MC motors to shed ice (#26322)

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This feature periodically spins the unused motors on VTOL airframes, to
break off ice that has built up in the motor while it is still feasible
to do so. Each ice shedding event sends a motor ouput of 0.01 to the
unused motors for 2 seconds.

Configured by `CA_ICE_PERIOD`, the duration of the entire cycle. Set to
0 to disable.
This commit is contained in:
Balduin
2026-01-27 11:15:24 +01:00
committed by GitHub
parent 50bb31491b
commit 0676647d8a
6 changed files with 101 additions and 4 deletions
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docs/en/config_vtol/index.md
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@@ -9,3 +9,4 @@ Then perform VTOL-specific configuration and tuning:
- [Back-transition Tuning](../config_vtol/vtol_back_transition_tuning.md)
- [VTOL w/o Airspeed Sensor](../config_vtol/vtol_without_airspeed_sensor.md)
- [VTOL Weather Vane](../config_vtol/vtol_weathervane.md)
- [Ice Shedding](../config_vtol/vtol_ice_shedding.md)