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22 lines
808 B
Markdown
22 lines
808 B
Markdown
# VTOL Ice Shedding feature
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## Overview
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Ice shedding is a feature that periodically spins unused motors in fixed-wing
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flight, to break off any ice that is starting to build up in the motors while it
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is still feasible to do so.
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It is configured by the parameter `CA_ICE_PERIOD`. When it is 0, the feature is
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disabled, when it is above 0, it sets the duration of the ice shedding cycle in
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seconds. In each cycle, the rotors are spun for two seconds at a motor output of
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0.01.
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:::warning
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When enabling the feature on a new airframe, there is the risk of producing
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torques that disturb the fixed-wing rate controller. To mitigate this risk:
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- Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
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produces 1% thrust
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- Be prepared to take control and switch back to multicopter
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:::
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