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71 lines
6.8 KiB
Markdown
71 lines
6.8 KiB
Markdown
# Takeoff Mode (Multicopter)
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<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />
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The _Takeoff_ flight mode causes the vehicle to take off to a specified height and wait for further input.
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::: info
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- Mode is automatic - no user intervention is _required_ to control the vehicle.
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- Mode requires at least a valid local position estimate (does not require a global position).
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- Flying vehicles can't switch to this mode without valid local position.
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- Flying vehicles will failsafe if they lose the position estimate.
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- Disarmed vehicles can switch to mode without valid position estimate but can't arm.
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- RC control switches can be used to change flight modes.
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- Stick movement will [by default](#MAN_OVERRIDE_SPD) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless prevented by the active failsafe state.
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- The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff.
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:::
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## Technical Summary
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A multi rotor ascends vertically to the altitude defined in [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) and holds position.
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Stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#MAN_OVERRIDE_SPD)).
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<!-- AUTO-GENERATED: mode_requirements_rotary_wing_auto_takeoff -->
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### Mode Requirements
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The following requirements must be met to arm in this mode, or to switch to this mode when it is armed.
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- [`mode_req_angular_velocity`](../flight_modes/mode_requirements.md#mode_req_angular_velocity) — Angular velocity
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- [`mode_req_attitude`](../flight_modes/mode_requirements.md#mode_req_attitude) — Attitude/pose
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- [`mode_req_local_alt`](../flight_modes/mode_requirements.md#mode_req_local_alt) — Local altitude relative to EKF2 origin ('0') position
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- [`mode_req_local_position`](../flight_modes/mode_requirements.md#mode_req_local_position) — Position relative to EKF2 origin ('0') point
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<!-- END AUTO-GENERATED: mode_requirements_rotary_wing_auto_takeoff -->
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### 매개변수
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Takeoff is affected by the following parameters:
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| Parameter | 설명 |
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| ----------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
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| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) | Target altitude during takeoff (default: 2.5m) |
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| <a id="MPC_TKO_SPEED"></a>[MPC_TKO_SPEED](../advanced_config/parameter_reference.md#MPC_TKO_SPEED) | Speed of ascent (default: 1.5m/s) |
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| <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" /> |
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## Takeoff From a Moving Platform (Boat Deck) <Badge type="tip" text="PX4 v1.18" />
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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.
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:::warning
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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.
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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.
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:::
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:::info
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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).
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To run a mission from a boat, take off first in Takeoff mode and then start the mission once the vehicle is airborne.
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:::
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The moving-platform case can be exercised in simulation with the Gazebo [Moving Platform world](../sim_gazebo_gz/worlds.md#moving-platform).
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## See Also
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- [Throw Launch (MC)](../flight_modes_mc/throw_launch.md)
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- [Takeoff Mode (FW)](../flight_modes_fw/takeoff.md)
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<!-- this maps to AUTO_TAKEOFF in dev -->
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