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docs/zh/config_vtol/vtol_ice_shedding.md

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+# VTOL Ice Shedding feature
+
+## 综述
+
+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_MIN` values correctly, so that the motor output 0.01 actually
+  produces 1% thrust
+- Be prepared to take control and switch back to multicopter
+
+:::