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common: document NAV_TAKEOFF param3 autopilot-nav requirement (#2429)

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When param3 bit 0 is not set, the vehicle must reject the command if it will not
automatically manage horizontal position. Documents existing ArduPilot
behaviour (ArduCopter GCS_MAVLink_Copter.cpp).

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
This commit is contained in:
Peter Barker
2026-03-18 15:50:30 +11:00
committed by GitHub
parent c1c8d63a1e
commit 4107d822c9
1 changed files with 6 additions and 1 deletions
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message_definitions/v1.0/common.xml
+6 -1
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@@ -1117,6 +1117,11 @@
<description>Force-accept the existing accelerometer calibration as valid without re-running it. Useful after a parameter reload that cleared calibration validity flags.</description>
</entry>
</enum>
<enum name="NAV_TAKEOFF_FLAGS" bitmask="true">
<entry value="1" name="NAV_TAKEOFF_FLAGS_HORIZONTAL_POSITION_NOT_REQUIRED">
<description>Accept the command even if the autopilot does not have control over its horizontal position (note that it might not have altitude control either).</description>
</entry>
</enum>
<!-- The MAV_CMD enum entries describe either: -->
<!-- * the data payload of mission items (as used in the MISSION_ITEM_INT message) -->
<!-- * the data payload of mavlink commands (as used in the COMMAND_INT and COMMAND_LONG messages) -->
@@ -1187,7 +1192,7 @@
<description>Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.</description>
<param index="1" label="Pitch" units="deg">Minimum pitch (if airspeed sensor present), desired pitch without sensor</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="3" label="Flags" enum="NAV_TAKEOFF_FLAGS">Bitmask of options flags.</param>
<param index="4" label="Yaw" units="deg">Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>