TAKEOFF - clarify behaviour on VTOL #1377
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Discussed in dev meeting. Upshot is that this can be merged. Note that on boot a VTOL should default to MC mode so that the decision to take off in FW is a concious one. |
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This clarifies that if a vehicle supports multiple modes (e.g. like a VTOL quadplane) then the takeoff command should do so in the current mode. The alternative is that it should switch to the VTOL/multicopter mode everyt time before takeoff. This behaviour is I believe the "standard" for both ArduPilot and PX4.
We should similarly define how vehicles should behave for MAV_CMD_NAV_VTOL_TAKEOFF. We could define as:
Note, the specific behaviour we choose not as important as consistent experience for GCS users.
Thoughts? @auturgy @julianoes ?