The takeoff command from the ground station was refused
What ArduPilot says:
- User Takeoff only in GUIDED mode
- Must be armed for takeoff
- Already flying - no takeoff
The ground station's Takeoff command asks a QuadPlane to climb vertically to a given height. ArduPilot accepts it only in GUIDED mode, armed, and not already in the air; each line names the condition that failed.
What to do, most likely first
“User Takeoff only in GUIDED mode”: the aircraft is in another mode.
FixSwitch to GUIDED, arm, then send the command.
“Must be armed for takeoff”: the command came before arming.
FixArm in GUIDED first, then send the command.
“Already flying - no takeoff”: the lift motors are already lifting, or a guided takeoff is in progress.
FixNothing to do; to change height in flight, send a new GUIDED target instead.
The code that sends it
User Takeoff only in GUIDED mode
ArduPlane/quadplane.cpp QuadPlane::do_user_takeoff() · Open in ArduPilot Plane-4.7.1
Must be armed for takeoff
ArduPlane/quadplane.cpp QuadPlane::do_user_takeoff() · Open in ArduPilot Plane-4.7.1
Already flying - no takeoff
ArduPlane/quadplane.cpp QuadPlane::do_user_takeoff() · Open in ArduPilot Plane-4.7.1