# Takeoff Mode (Multicopter)

<img src="../../assets/site/position_fixed.svg" title="Position fix required (e.g. GPS)" width="30px" />

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

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- Mode is automatic - no user intervention is _required_ to control the vehicle.
- Mode requires at least a valid local position estimate (does not require a global position).
  - Flying vehicles can't switch to this mode without valid local position.
  - Flying vehicles will failsafe if they lose the position estimate.
  - Disarmed vehicles can switch to mode without valid position estimate but can't arm.
- RC control switches can be used to change flight modes.
- RC stick movement will [by default](#COM_RC_OVERRIDE) change the vehicle to [Position mode](../flight_modes_mc/position.md) unless handling a critical battery failsafe.
- The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff.

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## 技术总结

A multi rotor ascends vertically to the altitude defined in [MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT) and holds position.

RC stick movement will change the vehicle to [Position mode](../flight_modes_mc/position.md) (by [default](#COM_RC_OVERRIDE)).

### 参数

Takeoff is affected by the following parameters:

| 参数                                                                                                                                                                      | 描述                                                                                                                                                                                                                              |
| ----------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MIS_TAKEOFF_ALT"></a>[MIS_TAKEOFF_ALT](../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT)                      | Target altitude during takeoff (default: 2.5m)                                                                                                                               |
| <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="COM_RC_OVERRIDE"></a>[COM_RC_OVERRIDE](../advanced_config/parameter_reference.md#COM_RC_OVERRIDE)                      | Controls whether stick movement on a multicopter (or VTOL in MC mode) causes a mode change to [Position mode](../flight_modes_mc/position.md). 可以分别为自动模式和 offboard 模式启用此功能，默认情况下在自动模式下启用此功能。 |
| <a id="COM_RC_STICK_OV"></a>[COM_RC_STICK_OV](../advanced_config/parameter_reference.md#COM_RC_STICK_OV) | The amount of stick movement that causes a transition to [Position mode](../flight_modes_mc/position.md) (if [COM_RC_OVERRIDE](#COM_RC_OVERRIDE) is enabled)       |

## 另见

- [Throw Launch (MC)](../flight_modes_mc/throw_launch.md)
- [Takeoff Mode (FW)](../flight_modes_fw/takeoff.md)

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