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2026-02-11 22:43:01 +00:00
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docs/en/config_vtol/vtol_ice_shedding.md
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@@ -14,7 +14,8 @@ seconds. In each cycle, the rotors are spun for two seconds at a motor output of
:::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_MIN` values correctly, so that the motor output 0.01 actually
produces 1% thrust
- Be prepared to take control and switch back to multicopter
:::
- Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
produces 1% thrust
- Be prepared to take control and switch back to multicopter
:::
docs/en/config_vtol/vtol_without_airspeed_sensor.md
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@@ -66,7 +66,7 @@ Set the minimum front transition time ([VT_TRANS_MIN_TM](../advanced_config/para
Because the risk of stalling is real, it is recommended to set the 'fixed-wing minimum altitude' (a.k.a. 'quad-chute') threshold ([VT_FW_MIN_ALT](../advanced_config/parameter_reference.md#VT_FW_MIN_ALT)).
This will cause the VTOL to transition back to multicopter mode and initiate the [Return mode](../flight_modes_vtol/return.md) below a certain altitude.
This will cause the VTOL to transition back to multicopter mode and initiate the [Return mode](../flight_modes_vtol/return.md) below a certain altitude.
You could set this to 15 or 20 meters to give the multicopter time to recover from a stall.
The position estimator tested for this mode is EKF2, which is enabled by default (for more information see [Switching State Estimators](../advanced/switching_state_estimators.md#how-to-enable-different-estimators) and [EKF2_EN ](../advanced_config/parameter_reference.md#EKF2_EN)).