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.
- Stick movement will by default change the vehicle to Position mode unless prevented by the active failsafe state.
- 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.
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) |
| MAN_OVERRIDE_SPD | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to Position mode (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. PX4 v1.18 |
Takeoff From a Moving Platform (Boat Deck) PX4 v1.18
Automatic takeoff from a moving platform, such as a boat deck, is supported. The multicopter climbs and holds the point where it left the deck, rather than following the boat.
WARNING
Given that the vehicle holds the point where it left the deck and does not travel along with the boat, always take off from the back (stern) of the boat, with clear open space behind it. Taking off from the bow or the middle of the boat can leave it behind across the deck and into masts, antennas, superstructure, or crew.
INFO
Takeoff from a moving platform is only supported in Takeoff mode (or the equivalent coordinate-less takeoff commanded from a ground station), not as part of a Mission. To run a mission from a boat, take off first in Takeoff mode and then start the mission once the vehicle is airborne.
The moving-platform case can be exercised in simulation with the Gazebo Moving Platform world.