void ActionImpl::takeoff_async(const Action::ResultCallback& callback) const
{
    if (_system_impl->autopilot() == Autopilot::Px4) {
        takeoff_async_px4(callback);
    } else {
        takeoff_async_apm(callback);
    }
}

void ActionImpl::takeoff_async_px4(const Action::ResultCallback& callback) const
{
    MavlinkCommandSender::CommandLong command{};

    command.command = MAV_CMD_NAV_TAKEOFF;
    command.target_component_id = _system_impl->get_autopilot_id();

    _system_impl->send_command_async(
        command, [this, callback](MavlinkCommandSender::Result result, float) {
            command_result_callback(result, callback);
        });
}

void ActionImpl::takeoff_async_apm(const Action::ResultCallback& callback) const
{
    auto send_takeoff_command = [this, callback]() {
        MavlinkCommandSender::CommandLong command{};

        command.command = MAV_CMD_NAV_TAKEOFF;
        command.target_component_id = _system_impl->get_autopilot_id();
        command.params.maybe_param7 = get_takeoff_altitude().second;

        _system_impl->send_command_async(
            command, [this, callback](MavlinkCommandSender::Result result, float) {
                command_result_callback(result, callback);
            });
    };
    if (_system_impl->get_flight_mode() != FlightMode::Offboard) {
        _system_impl->set_flight_mode_async(
            FlightMode::Offboard,
            [callback, send_takeoff_command](MavlinkCommandSender::Result result, float) {
                Action::Result action_result = action_result_from_command_result(result);
                if (action_result != Action::Result::Success) {
                    if (callback) {
                        callback(action_result);
                    }
                }
                send_takeoff_command();
            });
    } else {
        send_takeoff_command();
    }
}