diff --git a/docs/en/flight_modes_mc/takeoff.md b/docs/en/flight_modes_mc/takeoff.md
index 743112a2012..5119b06dfa6 100644
--- a/docs/en/flight_modes_mc/takeoff.md
+++ b/docs/en/flight_modes_mc/takeoff.md
@@ -35,6 +35,22 @@ Takeoff is affected by the following parameters:
 | <a id="MPC_TKO_SPEED"></a>[MPC_TKO_SPEED](../advanced_config/parameter_reference.md#MPC_TKO_SPEED)          | Speed of ascent (default: 1.5m/s)                                                                                                                                                                                                                                                                                                                                                                                                                                                             |
 | <a id="MAN_OVERRIDE_SPD"></a>[MAN_OVERRIDE_SPD](../advanced_config/parameter_reference.md#MAN_OVERRIDE_SPD) | Speed (normalized stick travel per second) above which moving the sticks controlling a multicopter (or VTOL in hover) gives control back to the pilot by switching to [Position mode](../flight_modes_mc/position.md) (or Altitude mode if position is unavailable). At the default value of 1 a half-stick movement in ~0.5 s triggers it; lower is more sensitive. A stick held statically has zero speed and will not trigger. Set to -1 to disable. <Badge type="tip" text="PX4 v1.18" /> |
 
+## Takeoff From a Moving Platform (Boat Deck) <Badge type="tip" text="PX4 v1.18" />
+
+Automatic takeoff from a moving platform, such as a boat deck, is supported. The multicopter climbs and holds the point where it left the deck, rather than following the boat.
+
+::: warning
+Given that the vehicle holds the point where it left the deck and does not travel along with the boat, always take off from the **back (stern) of the boat**, with clear open space behind it.
+Taking off from the bow or the middle of the boat can leave it behind across the deck and into masts, antennas, superstructure, or crew.
+:::
+
+::: info
+Takeoff from a moving platform is only supported in [Takeoff mode](#technical-summary) (or the equivalent coordinate-less takeoff commanded from a ground station), not as part of a [Mission](../flight_modes_mc/mission.md).
+To run a mission from a boat, take off first in Takeoff mode and then start the mission once the vehicle is airborne.
+:::
+
+The moving-platform case can be exercised in simulation with the Gazebo [Moving Platform world](../sim_gazebo_gz/worlds.md#moving-platform).
+
 ## See Also
 
 - [Throw Launch (MC)](../flight_modes_mc/throw_launch.md)