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PX4-Autopilot/docs/ko/flight_modes_fw/takeoff.md
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# Takeoff Mode (Fixed-Wing)
<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 then enter [Hold mode](../flight_modes_fw/takeoff.md).
Vehicles are [hand or catapult launched](#catapult-hand-launch) by default, but can also be [configured](#RWTO_TKOFF) to use a [runway takeoff](#runway-takeoff) when supported by the hardware.
::: info
- Mode is automatic - no user intervention is _required_ to control the vehicle.
- Mode requires at least a valid altitude estimation.
- Flying vehicles can't switch to this mode without valid altitude.
- Flying vehicles will failsafe if they lose the altitude estimate.
- Disarmed vehicles can switch to mode without valid altitude estimate but can't arm.
- RC control switches can be used to change flight modes.
- RC stick movement is ignored in catapult takeoff but can can be used to nudge the vehicle in runway takeoff.
- The [Failure Detector](../config/safety.md#failure-detector) will automatically stop the engines if there is a problem on takeoff.
<!-- https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/commander/ModeUtil/mode_requirements.cpp -->
:::
## Technical Summary
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 (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 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.
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).
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).
:::
### 매개변수
Parameters that affect both catapult/hand-launch and runway takeoffs:
| 매개변수 | 설명 |
| -------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <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. |
| <a id="FW_FLAPS_TO_SCL"></a>[FW\_FLAPS\_TO\_SCL][FW_FLAPS_TO_SCL] | Flaps setpoint during takeoff |
| <a id="FW_AIRSPD_FLP_SC"></a>[FW\_AIRSPD\_FLP\_SC][FW_AIRSPD_FLP_SC] | Factor applied to the minimum airspeed when flaps are fully deployed. Needed if [FW\_TKO\_AIRSPD](#FW_TKO_AIRSPD) is below [FW\_AIRSPD\_MIN][FW_AIRSPD_MIN]. |
[FW_AIRSPD_MIN]: ../advanced_config/parameter_reference.md#FW_AIRSPD_MIN
[FW_FLAPS_TO_SCL]: ../advanced_config/parameter_reference.md#FW_FLAPS_TO_SCL
[FW_AIRSPD_FLP_SC]: ../advanced_config/parameter_reference.md#FW_AIRSPD_FLP_SC
[FW_TKO_AIRSPD]: ../advanced_config/parameter_reference.md#FW_TKO_AIRSPD
[MIS_TAKEOFF_ALT]: ../advanced_config/parameter_reference.md#MIS_TAKEOFF_ALT
[FW_TKO_PITCH_MIN]: ../advanced_config/parameter_reference.md#FW_TKO_PITCH_MIN
[FW_T_CLMB_MAX]: ../advanced_config/parameter_reference.md#FW_T_CLMB_MAX
:::info
The vehicle always respects normal FW max/min throttle settings during takeoff ([FW_THR_MIN](../advanced_config/parameter_reference.md#FW_THR_MIN), [FW_THR_MAX](../advanced_config/parameter_reference.md#FW_THR_MAX)).
:::
## Catapult/Hand Launch {#hand_launch}
In _catapult/hand-launch mode_ the vehicle waits to detect launch (based on acceleration trigger).
On launch it enables the motor(s) and climbs with the maximum climb rate [FW_T_CLMB_MAX](#FW_T_CLMB_MAX) while keeping the pitch setpoint above [FW_TKO_PITCH_MIN](#FW_TKO_PITCH_MIN).
Once it reaches [MIS_TAKEOFF_ALT](#MIS_TAKEOFF_ALT) it will automatically switch to [Hold mode](../flight_modes_fw/hold.md) and loiter.
All RC stick movement is ignored during the full takeoff sequence.
To launch in this mode:
1. Arm the vehicle
2. Put the vehicle into _Takeoff mode_
3. Launch/throw the vehicle (firmly) directly into the wind.
You can also shake the vehicle first, wait till the motor spins up and then throw it
### Parameters (Launch Detector)
The _launch detector_ is affected by the following parameters:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------- |
| <a id="FW_LAUN_DETCN_ON"></a>[FW_LAUN_DETCN_ON](../advanced_config/parameter_reference.md#FW_LAUN_DETCN_ON) | Enable automatic launch detection. If disabled motors spin up on arming already |
| <a id="FW_LAUN_AC_THLD"></a>[FW_LAUN_AC_THLD](../advanced_config/parameter_reference.md#FW_LAUN_AC_THLD) | Acceleration threshold (acceleration in body-forward direction must be above this value) |
| <a id="FW_LAUN_AC_T"></a>[FW_LAUN_AC_T](../advanced_config/parameter_reference.md#FW_LAUN_AC_T) | Trigger time (acceleration must be above threshold for this amount of seconds) |
| <a id="FW_LAUN_MOT_DEL"></a>[FW_LAUN_MOT_DEL](../advanced_config/parameter_reference.md#FW_LAUN_MOT_DEL) | Delay from launch detection to motor spin up |
## Runway Takeoff {#runway_launch}
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 [FW_W_EN](#FW_W_EN).
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 [RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE)).
The _runway takeoff mode_ has the following phases:
1. **Throttle ramp**: Throttle is ramped up within [RWTO_RAMP_TIME](../advanced_config/parameter_reference.md#RWTO_RAMP_TIME) to [RWTO_MAX_THR](../advanced_config/parameter_reference.md#RWTO_MAX_THR).
2. **Clamped to runway**: Pitch fixed, no roll and takeoff path controlled until the rotation airspeed ([RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD)) is reached. The operator is able to nudge the vehicle left/right via yaw stick.
3. **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 [FW_WING_SPAN](#FW_WING_SPAN) and [FW_WING_HEIGHT](#FW_WING_HEIGHT).
:::info
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 [FW_WR_P](../advanced_config/parameter_reference.md#FW_WR_P), [FW_WR_I](../advanced_config/parameter_reference.md#FW_WR_I), [FW_WR_FF](../advanced_config/parameter_reference.md#FW_WR_FF)).
:::
### Parameters (Runway Takeoff)
Runway takeoff is affected by the following parameters:
| 매개변수 | 설명 |
| -------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="RWTO_TKOFF"></a>[RWTO_TKOFF](../advanced_config/parameter_reference.md#RWTO_TKOFF) | Enable runway takeoff |
| <a id="FW_W_EN"></a>[FW_W_EN](../advanced_config/parameter_reference.md#FW_W_EN) | Enable wheel controller |
| <a id="RWTO_MAX_THR"></a>[RWTO_MAX_THR](../advanced_config/parameter_reference.md#RWTO_MAX_THR) | Max throttle during runway takeoff |
| <a id="RWTO_RAMP_TIME"></a>[RWTO_RAMP_TIME](../advanced_config/parameter_reference.md#RWTO_RAMP_TIME) | Throttle ramp up time |
| <a id="RWTO_ROT_AIRSPD"></a>[RWTO_ROT_AIRSPD](../advanced_config/parameter_reference.md#RWTO_ROT_AIRSPD) | Airspeed threshold to start rotation (pitching up). If not configured by operator is set to 0.9\*FW_TKO_AIRSPD. |
| <a id="RWTO_ROT_TIME"></a>[RWTO_ROT_TIME](../advanced_config/parameter_reference.md#RWTO_ROT_TIME) | This is the time desired to linearly ramp in takeoff pitch constraints during the takeoff rotation. |
| <a id="FW_TKO_AIRSPD"></a>[FW_TKO_AIRSPD](../advanced_config/parameter_reference.md#FW_TKO_AIRSPD) | Airspeed setpoint during the takeoff climbout phase (after rotation). If not configured by operator is set to FW_AIRSPD_MIN. |
| <a id="RWTO_NUDGE"></a>[RWTO_NUDGE](../advanced_config/parameter_reference.md#RWTO_NUDGE) | Enable wheel controller nudging while on the runway |
| <a id="FW_WING_SPAN"></a>[FW_WING_SPAN](../advanced_config/parameter_reference.md#FW_WING_SPAN) | The wingspan of the vehicle. Used to prevent wingstrikes. |
| <a id="FW_WING_HEIGHT"></a>[FW_WING_HEIGHT](../advanced_config/parameter_reference.md#FW_WING_HEIGHT) | The height of the wings above ground (ground clearance). Used to prevent wingstrikes. |
## See Also
- [Takeoff Mode (MC)](../flight_modes_mc/takeoff.md)
- [Planning a mission takeoff](../flight_modes_fw/mission.md#mission-takeoff)
<!-- this maps to AUTO_TAKEOFF in dev -->
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