Which WP does the system starts following the terrain mode?

ArduCopter
1

Hi all,
I wanted to know that from which WP the system starts following the terrain. Does it start from the Takeoff WP or it starts from the 1 WP of the mission?

2

If you have the waypoint command set to terrain then it follows terrain up to the waypoint. e.g. if your first command is takeoff and 2nd command is a waypoint set in terrain frame, it’ll follow terrain after takeoff