# 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)

# See Also