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# TakeoffStatus (UORB message)

Status of the takeoff state machine currently just available for multicopters.

**TOPICS:** takeoff_status

## Fields

| Name          | Type      | Unit [Frame] | Range/Enum | Description                                                              |
| ------------- | --------- | ------------ | ---------- | ------------------------------------------------------------------------ |
| timestamp     | `uint64`  |              |            | time since system start (microseconds)                                   |
| takeoff_state | `uint8`   |              |            |
| tilt_limit    | `float32` |              |            | limited tilt feasibility during takeoff, contains maximum tilt otherwise |

## Constants

| Name                                                                          | Type    | Value | Description |
| ----------------------------------------------------------------------------- | ------- | ----- | ----------- |
| <a id="#TAKEOFF_STATE_UNINITIALIZED"></a> TAKEOFF_STATE_UNINITIALIZED         | `uint8` | 0     |
| <a id="#TAKEOFF_STATE_DISARMED"></a> TAKEOFF_STATE_DISARMED                   | `uint8` | 1     |
| <a id="#TAKEOFF_STATE_SPOOLUP"></a> TAKEOFF_STATE_SPOOLUP                     | `uint8` | 2     |
| <a id="#TAKEOFF_STATE_READY_FOR_TAKEOFF"></a> TAKEOFF_STATE_READY_FOR_TAKEOFF | `uint8` | 3     |
| <a id="#TAKEOFF_STATE_RAMPUP"></a> TAKEOFF_STATE_RAMPUP                       | `uint8` | 4     |
| <a id="#TAKEOFF_STATE_FLIGHT"></a> TAKEOFF_STATE_FLIGHT                       | `uint8` | 5     |

## Source Message

[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/TakeoffStatus.msg)

::: details Click here to see original file

```c
# Status of the takeoff state machine currently just available for multicopters

uint64 timestamp # time since system start (microseconds)

uint8 TAKEOFF_STATE_UNINITIALIZED     = 0
uint8 TAKEOFF_STATE_DISARMED          = 1
uint8 TAKEOFF_STATE_SPOOLUP           = 2
uint8 TAKEOFF_STATE_READY_FOR_TAKEOFF = 3
uint8 TAKEOFF_STATE_RAMPUP            = 4
uint8 TAKEOFF_STATE_FLIGHT            = 5

uint8 takeoff_state

float32 tilt_limit # limited tilt feasibility during takeoff, contains maximum tilt otherwise
```

:::