ArduPilot / ArduPilot/ardupilot

Quad Plane vectored Tilt Tri - FBW Takeoff Problem

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Plane Safety
Dominant language
C++
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Description

## Bug report

**Issue details**

Quadplane vectored tilt tri does not allow FBW takeoff despite having set Q_OPTIONS bit for it (Allow FW Takeoff). Arduplane does not take care of any of the TKOFF options like TKOFF_ACCEL_CNT or TKOFF_THR_MAX just to name few. Instead, the controller push all the motors to 100% instantaneously which could lead to a disaster...

**Version**
4.5.7

**Platform**
[ ] All
[ ] AntennaTracker
[ ] Copter
[X] Plane
[ ] Rover
[ ] Submarine

**Airframe type**
Quadplane of type vectored Tilt TRI

**Hardware type**
Pixhawk 6C Mini

**Logs**
It is easy to reproduce on bench so I can do more tests if you want.

[2025-03-13 17-40-31-anon.zip](https://github.com/user-attachments/files/19234034/2025-03-13.17-40-31-anon.zip)

Contributor guide

Open the contributing guide

Research direction

Reproduce the FBW takeoff on the bench with a vectored Tilt TRI QuadPlane using version 4.5.7, Q_OPTIONS Allow FW Takeoff, and the attached log. Trace how FBW takeoff handles TKOFF_ACCEL_CNT and TKOFF_THR_MAX; done when those options are honored instead of all motors reaching 100% instantaneously.

Written by the indexing model from the issue text.

Assessment

Tech stack
cpp
Domain
embedded-iot, robotics
Issue type
Bug
Difficulty
4/5
Estimated time
3-5 days
Activity status
Stale
Clarity
Mostly clear
Newbie friendliness
38/100

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