diff --git a/docs/en/flight_modes_fw/takeoff.md b/docs/en/flight_modes_fw/takeoff.md
index bc39016b53..021a79df53 100644
--- a/docs/en/flight_modes_fw/takeoff.md
+++ b/docs/en/flight_modes_fw/takeoff.md
@@ -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.                                                                                                 |
diff --git a/docs/en/releases/main.md b/docs/en/releases/main.md
index f9fbad4f86..45c5ef51c6 100644
--- a/docs/en/releases/main.md
+++ b/docs/en/releases/main.md
@@ -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