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3.8 KiB
3.8 KiB
Takeoff Mode (Multicopter)
The Takeoff flight mode causes the vehicle to take off to a specified height and wait for further input.
::: info
- Mode is automatic - no user intervention is required to control the vehicle.
- Mode requires at least a valid local position estimate (does not require a global position).
- Flying vehicles can't switch to this mode without valid local position.
- Flying vehicles will failsafe if they lose the position estimate.
- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
- RC control switches can be used to change flight modes.
- RC stick movement will by default change the vehicle to Position mode unless handling a critical battery failsafe.
- The Failure Detector will automatically stop the engines if there is a problem on takeoff.
:::
Technical Summary
A multi rotor ascends vertically to the altitude defined in MIS_TAKEOFF_ALT and holds position.
RC stick movement will change the vehicle to Position mode (by default).
Parameters
Takeoff is affected by the following parameters:
| Parameter | Description |
|---|---|
| MIS_TAKEOFF_ALT | Target altitude during takeoff (default: 2.5m) |
| MPC_TKO_SPEED | Speed of ascent (default: 1.5m/s) |
| COM_RC_OVERRIDE | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to Position mode. This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default. |
| COM_RC_STICK_OV | The amount of stick movement that causes a transition to Position mode (if COM_RC_OVERRIDE is enabled) |