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Fix APM takeoff when vehicle is already armed and on the ground #15063

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Fix APM takeoff when vehicle is already armed and on the ground #15063

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98fb676
Fix APM takeoff when vehicle is already armed while being on the ground
eris-ismajli Sep 9, 2026
bc292b4
Fix APM takeoff when the vehicle is already armed while being on the …
eris-ismajli Sep 9, 2026
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19 changes: 10 additions & 9 deletions src/FirmwarePlugin/APM/APMFirmwarePlugin.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1044,23 +1044,24 @@ bool APMFirmwarePlugin::_guidedModeTakeoff(Vehicle *vehicle, double altitudeRel)
return true;
}


void APMFirmwarePlugin::startTakeoff(Vehicle *vehicle) const
{
if (vehicle->flying()) {
QGC::showAppMessage(tr("Unable to start takeoff: Vehicle is already in the air."));
return;
}

if (!vehicle->armed()) {
if (!_setFlightModeAndValidate(vehicle, takeOffFlightMode())) {
QGC::showAppMessage(tr("Unable to start takeoff: Vehicle failed to change to Takeoff mode."));
return;
}
// The vehicle is on the ground, so it's safe to switch to Takeoff mode regardless of arming state
if (!_setFlightModeAndValidate(vehicle, takeOffFlightMode())) {
QGC::showAppMessage(tr("Unable to start takeoff: Vehicle failed to change to Takeoff mode."));
return;
}

if (!_armVehicleAndValidate(vehicle)) {
QGC::showAppMessage(tr("Unable to start takeoff: Vehicle failed to arm."));
return;
}
// Only arm the vehicle if it is not already armed
if (!vehicle->armed() && !_armVehicleAndValidate(vehicle)) {
QGC::showAppMessage(tr("Unable to start takeoff: Vehicle failed to arm."));
return;
}
}

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