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[Doc] FW Takeoff update for waypoint and position loss + relnote (#25226)

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* [Doc] FW Takeoff update for waypoint and position loss + relnote

* Update docs/en/flight_modes_fw/takeoff.md

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>

* Update for clarity

* Update docs/en/flight_modes_fw/takeoff.md

---------

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
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Hamish Willee 2025-07-17 11:19:51 +10:00 committed by GitHub
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27
docs/en/flight_modes_fw/takeoff.md
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@ -26,19 +26,34 @@ Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but
Takeoff mode (and [fixed wing mission takeoff](../flight_modes_fw/mission.md#mission-takeoff)) has two modalities: [catapult/hand-launch](#catapult-hand-launch) or [runway takeoff](#runway-takeoff) (hardware-dependent).
The mode defaults to catapult/hand launch, but can be set to runway takeoff by setting [RWTO_TKOFF](#RWTO_TKOFF) to 1.
To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle.
To use _Takeoff mode_ you first switch to the mode, and then arm the vehicle (or send the [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF) command which does both).
The acceleration of hand/catapult launch triggers the motors to start.
For runway launch, motors ramp up automatically once the vehicle has been armed.
Irrespective of the modality, a flight path (starting point and takeoff course) and clearance altitude are defined:
- The starting point is the vehicle position when the takeoff mode is first entered.
- The course is set to the vehicle heading on arming
- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT).
- The course is set to the vehicle heading on arming by default.
If a valid waypoint latitude/longitude is set the vehicle will instead track towards the waypoint.
- The clearance altitude is set to [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) by default.
If a valid waypoint altitude is set is set the vehicle will instead use it as the clearance altitude.
On takeoff, the aircraft will follow line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude.
By default, on takeoff the aircraft will follow the line defined by the starting point and course, climbing at the maximum climb rate ([FW_T_CLMB_MAX](../advanced_config/parameter_reference.md#FW_T_CLMB_MAX)) until reaching the clearance altitude.
Reaching the clearance altitude causes the vehicle to enter [Hold mode](../flight_modes_fw/takeoff.md).
Special case for invalid local position: In case the local position is invalid or becomes invalid while executing the takeoff, the controller is not able to track a course setpoint and will instead proceed climbing while keeping the wings level until the clearance altitude is reached.
If a valid waypoint target is set, using `MAV_CMD_NAV_TAKEOFF` or the [VehicleCommand](../msg_docs/VehicleCommand.md) uORB topic, the vehicle will instead track towards the waypoint, and enter [Hold mode](../flight_modes_fw/takeoff.md) after reaching the waypoint altitude (within the acceptance radius).
::: tip
If the local position is invalid or becomes invalid while executing the takeoff, the controller is not able to track a course setpoint and will instead proceed climbing while keeping the wings level until the clearance altitude is reached.
:::
::: info
- Takeoff towards a target position was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
- Holding wings level and ascending to clearance attitude when local position is invalid during takeoff was added in <Badge type="tip" text="main (planned for: PX4 v1.17)" />.
- QGroundControl does not support `MAV_CMD_NAV_TAKEOFF` (at time of writing).
:::
### Parameters
@ -46,7 +61,7 @@ Parameters that affect both catapult/hand-launch and runway takeoffs:
| Parameter | Description |
| ----------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT][MIS_TAKEOFF_ALT] | Minimum altitude setpoint above Home that the vehicle will climb to during takeoff. |
| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT][MIS_TAKEOFF_ALT] | This is the relative altitude (above launch altitude) the system will take off to if not otherwise specified. takeoff. |
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD][FW_TKO_AIRSPD] | Takeoff airspeed (is set to [FW_AIRSPD_MIN][FW_AIRSPD_MIN] if not defined by operator) |
| <a id="FW_TKO_PITCH_MIN"></a>[FW_TKO_PITCH_MIN][FW_TKO_PITCH_MIN] | This is the minimum pitch angle setpoint during the climbout phase |
| <a id="FW_T_CLMB_MAX"></a>[FW_T_CLMB_MAX][FW_T_CLMB_MAX] | Climb rate setpoint during climbout to takeoff altitude. |

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docs/en/releases/main.md
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@ -80,7 +80,8 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
### Fixed-wing
- TBD
- [Fixed Wing Takeoff mode](../flight_modes_fw/takeoff.md) will now keep climbing with level wings on position loss.
A target takeoff waypoint can be set to control takeoff course and loiter altitude. ([PX4-Autopilot#25083](https://github.com/PX4/PX4-Autopilot/pull/25083)).
### Rover