TAKEOFF mode says what it is going to do
What ArduPilot says:
- Climbing to TKOFF alt then loitering
- Takeoff to N.Nm for N.Nm heading N.N deg
- Above TKOFF alt - loitering
TAKEOFF mode takes off without a mission: it climbs straight ahead to TKOFF_ALT (50 m by default) and then circles a point TKOFF_DIST (200 m by default) ahead of where it started. “Takeoff to … for … heading …” gives the height, the distance and the direction, taken from the way the plane is moving when the motor is released. The other two lines appear when the mode is selected in flight: above TKOFF_ALT the plane circles where it is; below it, the plane climbs first.
Parameters to look at
| Parameter | What it is |
|---|---|
TKOFF_ALT | Takeoff mode altitude |
TKOFF_DIST | Takeoff mode distance |
TKOFF_LVL_ALT | Takeoff mode altitude level altitude |
TKOFF_LVL_PITCH | Takeoff mode altitude initial pitch |
The code that sends it
Climbing to TKOFF alt then loitering
ArduPlane/mode_takeoff.cpp ModeTakeoff::update() · Open in ArduPilot Plane-4.7.1
Takeoff to N.Nm for N.Nm heading N.N deg
ArduPlane/mode_takeoff.cpp ModeTakeoff::update() · Open in ArduPilot Plane-4.7.1
Above TKOFF alt - loitering
ArduPlane/mode_takeoff.cpp ModeTakeoff::update() · Open in ArduPilot Plane-4.7.1