I am having a problem with takeoff mode. This is a ground launch with landing gear. When I switch to takeoff mode, the plane will set the throttle to max (80%) without slewing. I have TKOFF_THR_SLEW set to 50, but when it tries to go to 80% without any slew, the voltage drops rapidly and the flight controller reboots. I can sometimes get the slew to work after several attempts. Specifically, if the FC does not reset, I can switch back to FBWA then if I switch to takeoff it will slew correctly. I have included a log showing the issue. Since the board resets in the log, it does not write the last burst of data, but you can see what is happening by looking at RCOU.C1. Here is a link to the log. 2026-02-27 09-08-58.bin Let me know if I should also upload a params file.
I filed a github issue on this. It always fails to slew on the first change to takeoff mode after booting the flight controller and works every time after that.
Just to close the loop on this in case someone finds it from a search, I had set all the throw detection settings to 0 since this was being used for a standing takeoff on the runway. This branched the takeoff mode code into an edge case causing the issue. By setting TKOFF_THR_DELAY back to the default value of 2 (or any non-zero value) it will work correctly and not affect its ability to do a standing takeoff.
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We have a fix for this bug, it will be included in 4.7.0 beta2. Thanks for the report!
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