PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
      • Tune/Sound Meanings
      • Preflight Checks
    • Payloads & Cameras
    • Flight Reporting
  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
    • Sensor Orientation
    • Compass
    • Gyroscope
    • Accelerometer
    • Airspeed
    • Level Horizon Calibration
    • Radio Setup
    • Joystick Setup
    • Flight Modes
    • Battery
    • Safety
      • Failsafe Simulation
    • ESC Calibration
    • Actuators
    • Autotune
  • Vehicle Types & Setup
    • Multicopters
      • Multicopter Config/Tuning
        • MC Filter/Control Latency Tuning
        • MC PID Tuning (Manual/Basic)
        • MC PID Tuning Guide (Manual/Advanced)
        • MC Setpoint Tuning (Trajectory Generator)
          • MC Jerk-limited Type Trajectory
        • Multicopter Racer Setup
      • X500 v2 (Pixhawk 6C)
      • X500 v2 (Pixhawk 5X)
      • X500 (Pixhawk 4)
      • S500 V2 (Pixhawk 4)
      • DJI F450 (CUAV v5+)
      • DJI F450 (CUAV v5 nano)
      • QAV250 (Pixhawk4 Mini) - Discontinued
      • DJI F450 + RTK (Pixhawk 3 Pro)
      • QAV250 (Pixhawk Mini)
      • QAV-R 5" Racer (Pixracer)
      • Omnicopter
    • Planes
      • Fixed Wing Config/Tuning
        • Fixedwing PID Tuning Guide
        • Fixedwing Advanced Tuning Guide
        • Fixedwing Trimming Guide
      • Reptile Dragon 2 (ARK6X)
      • Turbo Timber Evolution (Pixhawk 4 Mini)
      • Wing Wing Z84 (Pixracer)
    • VTOL
      • VTOL Config/Tuning
        • QuadPlane Configuration
        • Back-transition Tuning
        • VTOL w/o Airspeed Sensor
        • VTOL Weather Vane
      • Standard VTOL
        • FunCub QuadPlane (Pixhawk)
        • Ranger QuadPlane (Pixhawk)
        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
    • Autogyros (experimental)
      • ThunderFly Auto-G2 (Holybro pix32)
    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
    • Rovers (experimental)
      • Traxxas Stampede
    • Submarines (experimental)
      • BlueROV2
    • Airframes Reference
  • Flying
    • First Flight Guidelines
    • Flying 101
    • Missions
      • Package Delivery Mission
    • GeoFence
    • Safety Point Planning
    • Flight Modes
      • Position Mode (MC)
      • Altitude Mode (MC)
      • Manual/Stabilized Mode (MC)
      • Acro Mode (MC)
      • Orbit Mode (MC)
      • Position Mode (FW)
      • Altitude Mode (FW)
      • Stabilized Mode (FW)
      • Acro Mode (FW)
      • Manual Mode (FW)
      • Takeoff Mode
      • Land Mode
      • Return Mode
      • Hold Mode
      • Mission Mode
      • Follow Me Mode
      • Offboard Mode
    • Terrain Following/Holding
  • Flight Log Analysis
    • Log Analysis using Flight Review
    • Log Analysis using PlotJuggler
  • Advanced Configuration
    • Finding/Updating Parameters
    • Full Parameter Reference
    • ECL/EKF Overview & Tuning
    • Flight Termination Configuration
    • Bootloader Flashing onto Betaflight Systems
    • Land Detector Configuration
    • Prearm/Arm/Disarm Configuration
    • IMU Factory Calibration
    • Sensor Thermal Compensation
    • Compass Power Compensation
    • Advanced Controller Orientation
    • Static Pressure Buildup
    • Serial Port Configuration
    • MAVLink Telemetry (OSD/GCS)
    • PX4 Ethernet Setup
    • Bootloader Update
  • Hardware (Drones&Parts)
    • Complete Vehicles
      • ModalAI Starling
      • PX4 Vision Kit
      • MindRacer BNF & RTF
        • MindRacer 210
        • NanoMind 110
      • Holybro Kopis 2
      • Bitcraze Crazyflie 2.1
    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
      • Pixhawk Standard Autopilots
        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
        • Holybro Pixhawk 6C Mini(FMUv6C)
        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
        • mRo Pixracer (FMUv4)
        • Hex Cube Black (FMUv3)
        • mRo Pixhawk (FMUv3)
        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
        • AirMind MindRacer
        • ARK Electronics ARKV6X
        • CUAV X7
        • CUAV Nora
        • CUAV V5+ (FMUv5)
        • CUAV V5 nano (FMUv5)
        • CUAV Pixhack v3 (FMUv3)
        • CubePilot Cube Orange+ (CubePilot)
        • CubePilot Cube Orange (CubePilot)
        • CubePilot Cube Yellow (CubePilot)
        • Holybro Kakute H7v2
        • Holybro Kakute H7mini
        • Holybro Kakute H7
        • Holybro Durandal
        • Holybro Pix32 v5
        • ModalAI Flight Core v1
        • ModalAI VOXL Flight
        • ModalAI VOXL 2
        • mRobotics-X2.1 (FMUv2)
        • mRo Control Zero F7)
        • NXP RDDRONE-FMUK66 FMU
        • Sky-Drones AIRLink
        • SPRacing SPRacingH7EXTREME
        • ThePeach FCC-K1
        • ThePeach FCC-R1
      • Experimental Autopilots
        • BeagleBone Blue
        • Raspberry Pi 2/3 Navio2
        • Raspberry Pi 2/3/4 PilotPi
          • PilotPi with Raspberry Pi OS
          • PilotPi with Ubuntu Server
      • Discontinued Autopilots/Vehicles
        • Drotek Dropix (FMUv2)
        • Omnibus F4 SD
        • BetaFPV Beta75X 2S Brushless Whoop
        • Bitcraze Crazyflie 2.0
        • Aerotenna OcPoC-Zynq Mini
        • CUAV v5
        • Holybro Kakute F7 (Discontinued)
        • Holybro Pixfalcon
        • Holybro pix32 (FMUv2)
        • mRo AUAV-X2
        • 3DR Pixhawk 1
        • Snapdragon Flight
        • Intel® Aero RTF Drone (Discontinued)
      • Pixhawk Autopilot Bus (PAB) & Carriers
        • ARK Electronics Pixhawk Autopilot Bus Carrier
    • Flight Controller Peripherals
      • ADSB/FLARM (Traffic Avoidance)
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        • Avionics Anonymous Laser Altimeter UAVCAN Interface
      • ESCs & Motors
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        • VESC
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      • Grippers
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          • 3DR Telemetry Wifi (Discontinued)
        • Microhard Serial Telemetry Radio
          • ARK Electron Microhard Serial Telemetry Radio
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        • CUAV P8 Telemetry Radio
        • HolyBro XBP9X - Discontinued
      • RTK GPS
        • ARK RTK GPS
        • RTK GPS Heading with Dual u-blox F9P
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        • Femtones MINI2 Receiver
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        • Holybro H-RTK Unicore UM982 GPS
        • Locosys Hawk R1
        • Locosys Hawk R2
        • Septentrio AsteRx-RIB
        • Septentrio mosaic-go
        • Trimble MB-Two
        • CubePilot Here+ (Discontined)
      • Remote ID
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On this page
  • Multi-copter (MC)
  • Fixed-wing (FW)
  • Catapult/Hand Launch
  • Runway Takeoff
  • VTOL
  1. Flying
  2. Flight Modes

Takeoff Mode

PreviousManual Mode (FW)NextLand Mode

Last updated 1 year ago

The Takeoff flight mode causes the vehicle to take off to a specified height and wait for further input.

:::note

  • This mode requires a good position estimate (e.g. from GPS).

  • The vehicle must be armed before this mode can be engaged.

  • This mode is automatic - no user intervention is required to control the vehicle.

  • RC control switches can be used to change flight modes on any vehicle.

  • RC stick movement in a multicopter (or VTOL in multicopter mode) will change the vehicle to unless handling a critical battery failsafe.

  • The will automatically stop the engines if there is a problem on takeoff. :::

The specific behaviour for each vehicle type is described below.

Multi-copter (MC)

A multi rotor ascends to the altitude defined in and holds position.

RC stick movement will change the vehicle to (by ).

Takeoff is affected by the following parameters:

Parameter
Description

Target altitude during takeoff (default: 2.5m)

Speed of ascent (default: 1.5m/s)

Fixed-wing (FW)

Parameters that apply to both catapult/hand-launch as well as runway takeoffs:

Parameter
Description

Minimum altitude setpoint above Home that the vehicle will climb to during takeoff.

This is the minimum pitch angle setpoint during the climbout phase

Maximum climb rate.

Catapult/Hand Launch

All RC stick movement is ignored during the full takeoff sequence.

To launch in this mode:

  • Arm the vehicle

  • Put the vehicle into Takeoff mode

  • Launch/throw the vehicle (firmly) directly into the wind. You can also shake the vehicle first, wait till the motor spins up and throw only then

The launch detector is affected by the following parameters:

Parameter
Description

Enable automatic launch detection. If disabled motors spin up on arming already

Acceleration threshold (acceleration in body-forward direction must be above this value)

Trigger time (acceleration must be above threshold for this amount of seconds)

Delay from launch detection to motor spin up

Runway Takeoff

The runway takeoff mode has the following phases:

Runway takeoff important parameters:

Parameter
Description

Enable runway takeoff

Enable wheel controller

Max throttle during runway takeoff

Throttle ramp up time

Airspeed threshold to start rotation (pitching up). If not configured by operator is set to 0.9*FW_TKO_AIRSPD.

This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation.

Airspeed setpoint during the takeoff climbout phase (after rotation). If not configured by operator is set to FW_AIRSPD_MIN.

Enable wheel controller nudging while on the runway

The wingspan of the vehicle. Used to prevent wingstrikes.

The height of the wings above ground (ground clearance). Used to prevent wingstrikes.

L1 period while steering on runway. Increase for less aggressive response to course errors.

Flaps setpoint during takeoff

VTOL

Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to . This can be separately enabled for auto modes and for offboard mode, and is enabled in auto modes by default.

The amount of stick movement that causes a transition to (if is enabled)

Automatic takeoff has two modalities: catapult/hand-launch or runway takeoff. The mode defaults to catapult/hand launch, but can be set to runway takeoff by setting to 1.

There are two ways to start an automatic takeoff on fixed-wing vehicles: either by and starting the mission, or by switching to the Takeoff mode and arming the vehicle.

In both cases, a flight path (starting point and takeoff course) and clearance altitude are defined. The flight path takes the vehicle's current position as starting point when the takeoff mode is first entered, and a straight line from this starting point continues in the direction of the defined course indefinitely. On takeoff, the aircraft will follow this line, climbing at the maximum climb rate () until reaching the clearance altitude.

In Takeoff mode (non-mission takeoffs), the course is set to the vehicle heading on arming, and the clearance altitude is set to . Reaching the clearance altitude causes the vehicle to enter Hold mode.

In the operator defines the takeoff course and clearance altitude in the Takeoff mission item. The course is defined by the line between the vehicle starting point and the mission item horizontal position, and the clearance altitude is the mission item altitude. Reaching the mission item altitude triggers the next mission item.

Takeoff airspeed (is set to if not defined by operator)

In catapult/hand-launch mode the vehicle waits to detect launch (based on acceleration trigger). On launch it enables the motor and climbs with the maximum climb rate while keeping the pitch setpoint above . Once it reaches it will automatically switch to and loiter.

Runway takeoffs can be used by vehicles with landing gear and and steerable wheel (only). You will first need to enable the wheel controller using the parameter .

Vehicle should be centered and aligned with runway when takeoff is initiated. The operator can "nudge" the vehicle while on the runway to help keeping it centered and aligned (see ).

Throttle ramp: Throttle is ramped up within to .

Clamped to runway: Pitch fixed, no roll and takeoff path controlled until the rotation airspeed () is reached. The operator is able to nudge the vehicle left/right via yaw stick.

Climbout: Increase pitch setpoint and climb to takeoff altitude. To prevent wingstrikes, the controller will keep the roll setpoint locked to 0 when close to the ground, and then gradually allow more roll while climbing. It is based on the vehicle geometry as configured in and .

:::note For a smooth takeoff, the runway wheel controller possibly needs to be tuned. It consists of a rate controller (P-I-FF-controller with the parameters , , ) and an outer loop that calculates heading setpoints from course errors and can be tuned via . :::

:::note The vehicle always respects normal FW max/min throttle settings during takeoff (, ). :::

VTOLs default to MC mode on boot, and it is generally expected that they will take off in (and also safer).

That said, if transitioned to fixed-wing before takeoff, they will takeoff in mode.

Mission mode
RWTO_TKOFF
MIS_TAKEOFF_ALT
Hold mode
FW_T_CLMB_MAX
FW_TKO_PITCH_MIN
MIS_TAKEOFF_ALT
FW_W_EN
FW_WING_SPAN
FW_WING_HEIGHT
multicopter mode
Fixed-wing
Position mode
Position mode
COM_RC_OVERRIDE
Position mode
Position mode
by default
default
RWTO_NPFG_PERIOD
planning a mission takeoff
Failure Detector
MIS_TAKEOFF_ALT
FW_T_CLMB_MAX
RWTO_NUDGE
RWTO_RAMP_TIME
RWTO_MAX_THR
RWTO_ROT_AIRSPD
FW_WR_P
FW_WR_I
FW_WR_FF
FW_THR_MIN
FW_THR_MAX
MIS_TAKEOFF_ALT
MPC_TKO_SPEED
COM_RC_OVERRIDE
COM_RC_STICK_OV
MIS_TAKEOFF_ALT
FW_TKO_AIRSPD
FW_AIRSPD_MIN
FW_TKO_PITCH_MIN
FW_T_CLMB_MAX
FW_LAUN_DETCN_ON
FW_LAUN_AC_THLD
FW_LAUN_AC_T
FW_LAUN_MOT_DEL
RWTO_TKOFF
FW_W_EN
RWTO_MAX_THR
RWTO_RAMP_TIME
RWTO_ROT_AIRSPD
RWTO_ROT_TIME
FW_TKO_AIRSPD
RWTO_NUDGE
FW_WING_SPAN
FW_WING_HEIGHT
RWTO_NPFG_PERIOD
FW_FLAPS_TO_SCL