起飞模式
起飞飞行模式使飞机起飞到指定高度并等待进一步指令。
This mode requires GPS. The vehicle must be armed before this mode can be engaged. This mode is automatic - no user intervention is required to control the vehicle. RC control switches can be used to change flight modes on any vehicle. The effect of RC stick movement depends on the vehicle type. * The Failure Detector will automatically stop the engines if there is a problem on takeoff.
下面描述每种类型飞机的具体行为。
多旋翼（MC）
多旋翼上升到MIS_TAKEOFF_ALT中定义的高度并保持位置。
RC stick movement will by default change the vehicle to Position mode unless handling a critical battery failsafe.
Takeoff is affected by the following parameters:
| 参数 | 描述 |
|---|---|
| MIS_TAKEOFF_ALT | 起飞期间的目标高度 (默认值: 2.5 米) |
| MPC_TKO_SPEED | 上升速度 (默认值: 1.5 m/s) |
| COM_RC_OVERRIDE | If enabled stick movement gives control back to the pilot in Position mode (except when vehicle is handling a critical battery failsafe). Enabled by default. |
固定翼（FW）
The aircraft takes off in the current direction using either catapult/hand-launch mode or runway takeoff mode. The mode defaults to catapult/hand launch, but can be set to runway takeoff using RWTO_TKOFF.
In catapult/hand launch mode the vehicle will perform a full throttle climbout (ramp up to RWTO_MAX_THR in about 2 seconds). Once the altitude error < FW_CLMBOUT_DIFF, regular navigation will proceed.
除了上面讨论的行为之外，还有一个启动检测器可以阻止启动程序开始直到满足某些条件。 对于弹射器发射，这是一些加速度阈值。
The runway takeoff mode has the following phases:
- Throttle ramp: Clamped to the runway (pitch fixed, no roll, and heading hold) until reach the minimum airspeed for takeoff (FW_AIRSPD_MIN x RWTO_AIRSPD_SCL).
- 起飞：增加俯仰直到飞机高度>导航高度（ RWTO_NAV_ALT ）。
- 爬出：爬升至地面以上的高度> FW_CLMBOUT_DIFF 。 在此阶段中, 将移除滚转和航向限制。
RC stick movement is ignored.
Takeoff is affected by the following parameters:高于地平面（AGL）的高度，留有足够的离地间隙以允许一些滚转。 在达到RWTO_NAV_ALT之前，飞机保持水平，并且仅使用方向舵来保持航向（参见 </ 1> RWTO_HDG ）。 如果 FW_CLMBOUT_DIFF > 0，则应低于 FW_CLMBOUT_DIFF 。</td> </tr> </tbody> </table>
在起飞期间飞机总是遵守标准的固定翼最大/最小油门设置（ FW_THR_MIN ， FW_THR_MAX ）。
垂直起降（VTOL）
A VTOL follows the TAKEOFF behavior and parameters of Fixed Wing when in FW mode, and of Multicopter when in MC mode.