Auto refused: armed on the ground and the mission does not begin with a take-off
What ArduPilot says:
- Auto: Missing Takeoff Cmd
You switched to Auto while armed and landed, and the first command of the mission is not a take-off. Starting a waypoint from the ground would tilt the copter towards it before it has lifted off and could tip it over, so Auto is refused; “Mode change to AUTO failed: init failed” follows. In the air the same mission is accepted.
What to do, most likely first
The mission has no take-off command at its start.
CheckRead the mission back from the copter: item 1 should be a take-off.
FixMake
NAV_TAKEOFFthe first command of the mission, with the height to climb to.You meant to take off by hand and start the mission in the air, but switched to Auto too early.
FixTake off in Loiter or AltHold, climb clear of obstacles, then switch to Auto.
The mission in the copter is not the one on your screen: the upload did not finish, or the mission was cleared.
CheckCompare the mission read from the copter with the plan.
FixUpload again and read it back.
MIS_OPTIONSbit 0 clears the mission at every reboot.
Parameters to look at
| Parameter | What it is |
|---|---|
MIS_TOTAL | Total mission commands |
MIS_OPTIONS | Mission options bitmask |
AUTO_OPTIONS | Auto mode options |
MIS_RESTART | Mission Restart when entering Auto mode |
Where to do it:Mission Energy CheckSetup & Tuning Guide
The code that sends it
Auto: Missing Takeoff Cmd
ArduCopter/mode_auto.cpp ModeAuto::init() · Open in ArduPilot Copter-4.7.1