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