On a QuadPlane, AUTO needs a mission that begins with a take-off
What ArduPilot says:
- Takeoff waypoint required
- missing takeoff waypoint
With QuadPlane enabled (Q_ENABLE is not 0), arming in AUTO needs a mission whose next command is a take-off: the pre-arm line reads “AUTO missing takeoff waypoint”. “Takeoff waypoint required” is the same demand when you switch from GUIDED to AUTO while the aircraft sits armed, waiting to be told to take off. Without a take-off command the motors would pull towards the first waypoint from the ground.
What to do, most likely first
The mission's first command is not a take-off, or no mission is loaded.
CheckOpen the mission: item 1 must be
NAV_TAKEOFForNAV_VTOL_TAKEOFF.FixAdd the take-off as the first item and upload the mission.
The mission is being resumed in the middle (
MIS_RESTARTis 0) after an earlier flight.FixRestart the mission from the ground station, or set
MIS_RESTARTto 1.
Parameters to look at
| Parameter | What it is |
|---|---|
Q_ENABLE | Enable QuadPlane |
MIS_RESTART | Mission Restart when entering Auto mode |
Where to do it:Mission Energy Check
The code that sends it
Takeoff waypoint required
ArduPlane/mode_auto.cpp ModeAuto::_enter() · Open in ArduPilot Plane-4.7.1
missing takeoff waypoint
ArduPlane/mode_auto.cpp ModeAuto::_pre_arm_checks() · Open in ArduPilot Plane-4.7.1