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New Takeoff mode skipped for circle just after launch

you mean if I set up a mission with a loiter point for example and just hand launch in AUTO mode, it still works?

exactly. what I do is setup a mission with :
1/ take off with angle 25 and reach 100m alt
2/ RTL (or loiter)

with these param:
TKOFF_THR_DELAY,1
TKOFF_THR_MAX,90
TKOFF_THR_MINACC,15
TKOFF_ACCEL_CNT,1

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well, my takeoff position is actually not suitable for RTL so I set it up to fly to a loiter point in a safe spot and loiter to altitude. But, I didn’t know I also need to place a takeoff point? This takeoff point needs to be exactly where I stand when hand launching, right?

Never place such position.
Home position is placed when arming with GPS fix, I don’t think takeoff need this. In your case when takeoff command will be over, it will run the next command. In my case takeoff command is over when target alt is reached.

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Looks like @urlu75 request will be available on next release: :grinning:

https://discuss.ardupilot.org/t/plane-4-0-release/47188/331

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