Takeoff is waiting for the rudder stick to be centred
What ArduPilot says:
- Takeoff waiting for rudder release
The aircraft was armed with the rudder stick, and the stick has not read exactly centre since. Until it does, an automatic takeoff is held back: the message repeats every 3 s, and on a QuadPlane the lift motors turn at idle to show that it is armed. It protects against taking off with the stick still held over.
What to do, most likely first
You are still holding the rudder stick.
FixLet the stick go; the takeoff starts by itself.
The released stick does not read zero: the transmitter's trim was moved, or the radio calibration is old.
CheckIn the Radio Calibration screen the yaw channel (
RCMAP_YAWnames it) must rest at itsRCn_TRIM, give or takeRCn_DZ.FixCentre the transmitter's rudder trim and calibrate the radio again.
Parameters to look at
| Parameter | What it is |
|---|---|
ARMING_RUDDER | Arming with Rudder enable/disable |
RCMAP_YAW | Yaw channel |
RC4_TRIM | RC trim PWM |
RC4_DZ | RC dead-zone |
The code that sends it
Takeoff waiting for rudder release
ArduPlane/quadplane.cpp QuadPlane::takeoff_controller() · Open in ArduPilot Plane-4.7.1
ArduPlane/takeoff.cpp Plane::auto_takeoff_check() · Open in ArduPilot Plane-4.7.1