TakeOff when disarmed


When I use QGC and send comand TakeOff from it when copter is disarmed - it doesn’t arm motors in advance, but rises up throtle right from zero… and so motors spin up not in the same time… and copter makes twitching on takeoff… Is their any parameter, that can add arming before take off to make motors spin up normally?

I can’t find any parameters or (in ArduCopter or the MAV_CMD_NAV_TAKEOFF MAVLink message) that would add a startup delay. I haven’t launched any copters with this method, but I suppose you’re expected to send an arm signal manually before issuing takeoff. QGC should have a button for that.