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PX4-Autopilot/docs/en/config_vtol/index.md
Balduin 0676647d8a
ControlAllocator: Periodically spin MC motors to shed ice (#26322) 
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.
2026-01-27 11:15:24 +01:00

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VTOL Configuration

First perform the Standard Configuration. As part of this you should calibrate the Airspeed sensor (optional, but highly recommended) and assign a VTOL transition switch to your RC controller.

Then perform VTOL-specific configuration and tuning: