# Takeoff Mode (Multicopter)
The Takeoff flight mode causes the vehicle to take off to a specified height and wait for further input.
注解
- This mode requires a good position estimate (e.g. from GPS).
- The vehicle must be armed before this mode will activate.
- This mode is automatic - no user intervention is required to control the vehicle.
- 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) |