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AutoQuad Forum
AutoQuad :: Autonomous Multi Rotor Vehicle Controller
This is why the multicopters that have a ground sensor and GPS often have an auto takeoff switch.
I have my throttle spring to the center position. In manual control I set the throttle just low enough so the quad does not leave the ground. When I switch to APH and give a little throttle the quad is in the air within a second.
To have the manual throttle low enough not to let the quad leave the ground I do a mix that lowers throttle setting when in manual control. Without the mix the throttle is set for hover.
Like with real aircraft, taking off is the easy part... it's landing that can be more tricky (and not optional ). I had a MR several years ago that did auto-land on a switch (used sonar to sense ground) and it was pretty cool to watch it do its thing. I kinda miss that. AQ can auto-land or takeoff in mission mode, but it's not really the same.