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New Takeoff mode skipped for circle just after launch

Hi,

I just give a try to the new way of auto takeoff and could not make it happened.
“old way” with auto mode and a mission is perfectly working.

Plane is launched by hand, the motor starts within the delay but the motor never get full throttle and is not climbing.
Looking at the log I can see “takeoff skipped” and then switch to CIRCLE but can’t get why.
Not enough speed and altitude for a circle !
Is it because of TKOFF_TIMEOUT ? TKOFF_DIST ? speed ? other ?

TKOFF_TIMEOUT is 10. If I understand correctly, it is the allowed time to reach the speed of 4m/s or DISARM.
TKOFF_DIST is 250 but not clear to me. Is it the distance from the take off point where the plane will loiter ? Meaning that when the plane reached the TKOFF_ALT, it will come back to a distance of TKOFF_DIST to loiter ?

Here is the setup

    RC10_OPTION=77
    TKOFF_ACCEL_CNT,1
    TKOFF_ALT,75
    TKOFF_DIST,250
    TKOFF_FLAP_PCNT,0
    TKOFF_LVL_ALT,20
    TKOFF_LVL_PITCH,15
    TKOFF_PLIM_SEC,2
    TKOFF_ROTATE_SPD,0
    TKOFF_TDRAG_ELEV,0
    TKOFF_TDRAG_SPD1,0
    TKOFF_THR_DELAY,1
    TKOFF_THR_MAX,100
    TKOFF_THR_MINACC,15
    TKOFF_THR_MINSPD,0
    TKOFF_THR_SLEW,100
    TKOFF_TIMEOUT,10

I made several try but same result each time.

log file : https://plot.dron.ee/O9bn
S800 AP4.param (22.1 KB)

Thanks for any tips :slight_smile:

It seems not to be related to Timeout or to the tkoff level altitude or distance.

From mode_takeoff.cpp, it looks like it considers the plane is already flying so enter in circle mode.
But the plane just let my hand, I don’t get that, why skipping takeoff at that stage ?

void ModeTakeoff::update()
{
    if (!takeoff_started) {
        // see if we will skip takeoff as already flying
        if (plane.is_flying() && plane.ahrs.groundspeed() > 3) {
            gcs().send_text(MAV_SEVERITY_INFO, "Takeoff skipped - circling");

Also, I can’t find this message in the log

if (!plane.throttle_suppressed) {
            gcs().send_text(MAV_SEVERITY_INFO, "Takeoff to %.0fm at %.1fm to %.1f deg",
                            alt, dist, direction);
            takeoff_started = true;

Meaning that takeoff never starts ?
But if the motor starts after launch, it means that takeoff has been detected (at least min_accel ) ?

Any help appreciated
thanks a lot

The same happened to me today, just after bungee launch the message tab shows “takeoff skipped” and the plane switch to CIRCLE mode, my parameters are similar to yours.

Downloadable log, please.

Here is the log:

Anyone else tried successfully new TAKEOFF mode?

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