mavlink · alireza787b · Aug 30, 2026
diff --git a/docs/en/qgc-user-guide/plan_view/plan_view.md b/docs/en/qgc-user-guide/plan_view/plan_view.md
@@ -54,6 +54,9 @@ The plan tools are a vertical tool strip on the left side of the map, used for a
 
 Inserts a takeoff command into the mission. This tool is available for all vehicle types except rovers.
 
+For PX4 VTOL vehicles, choose **VTOL takeoff** to climb and transition to fixed-wing flight, or
+**Multicopter takeoff** to remain in multicopter mode. The VTOL takeoff remains the default choice.
+
 ### Pattern
 
 The [Pattern](pattern.md) tool simplifies the creation of missions for flying complex geometries, including [surveys](../plan_view/pattern_survey.md) and [structure scans](../plan_view/pattern_structure_scan_v2.md).

diff --git a/src/FirmwarePlugin/FirmwarePlugin.h b/src/FirmwarePlugin/FirmwarePlugin.h
@@ -87,6 +87,7 @@ class FirmwarePlugin : public QObject
         ROIModeCapability =         1 << 5, ///< Vehicle supports ROI (both in Fly guided mode and from Plan creation)
         ChangeHeadingCapability =   1 << 6, ///< Vehicle supports changing heading at current location
         GuidedTakeoffCapability =   1 << 7, ///< Vehicle supports guided takeoff
+        VTOLMulticopterTakeoffCapability = 1 << 8, ///< VTOL supports MAV_CMD_NAV_TAKEOFF while remaining in multicopter mode
     };
 
     /// Parameter name remapping support:

diff --git a/src/FirmwarePlugin/PX4/PX4-MavCmdInfoVTOL.json b/src/FirmwarePlugin/PX4/PX4-MavCmdInfoVTOL.json
@@ -4,5 +4,10 @@
     "fileType":  "MavCmdInfo",
 
     "mavCmdInfo": [
+        {
+            "id":           22,
+            "comment":      "MAV_CMD_NAV_TAKEOFF",
+            "description":  "Take off vertically and continue the mission in multicopter mode."
+        }
     ]
 }
diff --git a/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc b/src/FirmwarePlugin/PX4/PX4FirmwarePlugin.cc
@@ -174,6 +174,9 @@ bool PX4FirmwarePlugin::isCapable(const Vehicle *vehicle, FirmwareCapabilities c
     if (vehicle->multiRotor() || vehicle->vtol()) {
         available |= TakeoffVehicleCapability | GuidedTakeoffCapability | OrbitModeCapability;
     }
+    if (vehicle->vtol()) {
+        available |= VTOLMulticopterTakeoffCapability;
+    }
     if (vehicle->fixedWing()) {
         available |= TakeoffVehicleCapability | OrbitModeCapability;
     }

diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
@@ -24,6 +24,7 @@
 #include "TakeoffMissionItem.h"
 #include "PlanViewSettings.h"
 #include "MissionCommandTree.h"
+#include "AppMessages.h"
 #include "QGCMath.h"
 #include "QGCLoggingCategory.h"
 
@@ -71,7 +72,7 @@ MissionController::~MissionController()
 
 void MissionController::_resetMissionFlightStatus(void)
 {
-    _flightStatusCalc.reset(_controllerVehicle, _managerVehicle, _missionContainsVTOLTakeoff);
+    _flightStatusCalc.reset(_controllerVehicle, _managerVehicle, _missionStartsInVTOLMulticopterMode);
     _missionFlightStatus = _flightStatusCalc.status();
 
     emit missionPlannedDistanceChanged(_missionFlightStatus.plannedDistance);
@@ -313,9 +314,33 @@ VisualMissionItem* MissionController::insertSimpleMissionItem(QGeoCoordinate coo
 }
 
 VisualMissionItem* MissionController::insertTakeoffItem(QGeoCoordinate /*coordinate*/, int visualItemIndex, bool makeCurrentItem)
+{
+    return _insertTakeoffItemWorker(
+        _controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF,
+        visualItemIndex,
+        makeCurrentItem);
+}
+
+VisualMissionItem* MissionController::insertVTOLMulticopterTakeoffItem(
+    QGeoCoordinate /*coordinate*/, int visualItemIndex, bool makeCurrentItem)
+{
+    const FirmwarePlugin* firmwarePlugin = _controllerVehicle->firmwarePlugin();
+    const QList<MAV_CMD> supportedCommands = firmwarePlugin->supportedMissionCommands(_controllerVehicle->vehicleClass());
+    const bool commandSupported = supportedCommands.isEmpty() || supportedCommands.contains(MAV_CMD_NAV_TAKEOFF);
+    if (!_controllerVehicle->vtol()
+        || !firmwarePlugin->isCapable(_controllerVehicle, FirmwarePlugin::VTOLMulticopterTakeoffCapability)
+        || !commandSupported) {
+        QGC::showAppMessage(tr("Multicopter takeoff is not supported for this vehicle and firmware."));
+        return nullptr;
+    }
+
+    return _insertTakeoffItemWorker(MAV_CMD_NAV_TAKEOFF, visualItemIndex, makeCurrentItem);
+}
+
+VisualMissionItem* MissionController::_insertTakeoffItemWorker(MAV_CMD command, int visualItemIndex, bool makeCurrentItem)
 {
     int sequenceNumber = _nextSequenceNumber();
-    _takeoffMissionItem = new TakeoffMissionItem(_controllerVehicle->vtol() ? MAV_CMD_NAV_VTOL_TAKEOFF : MAV_CMD_NAV_TAKEOFF, _masterController, _flyView, _settingsItem, false /* forLoad */);
+    _takeoffMissionItem = new TakeoffMissionItem(command, _masterController, _flyView, _settingsItem, false /* forLoad */);
     _takeoffMissionItem->setSequenceNumber(sequenceNumber);
     _initVisualItem(_takeoffMissionItem);
 
@@ -996,7 +1021,7 @@ void MissionController::_recalcFlightPathSegments(void)
 
     FlightPathSegmentHashTable oldSegmentTable = _flightPathSegmentHashTable;
 
-    _missionContainsVTOLTakeoff = false;
+    _missionStartsInVTOLMulticopterMode = false;
     _flightPathSegmentHashTable.clear();
 
     _simpleFlightPathSegments.beginResetModel();
@@ -1036,14 +1061,19 @@ void MissionController::_recalcFlightPathSegments(void)
             MAV_CMD command = simpleItem->mavCommand();
             switch (command) {
             case MAV_CMD_NAV_TAKEOFF:
+                if (firstCoordinateNotFound
+                    && _controllerVehicle->firmwarePlugin()->isCapable(
+                        _controllerVehicle, FirmwarePlugin::VTOLMulticopterTakeoffCapability)) {
+                    _missionStartsInVTOLMulticopterMode = true;
+                }
+                if (!linkEndToHome && firstCoordinateNotFound) {
+                    linkStartToHome = true;
+                }
+                break;
             case MAV_CMD_NAV_VTOL_TAKEOFF:
-                _missionContainsVTOLTakeoff = command == MAV_CMD_NAV_VTOL_TAKEOFF;
-                if (!linkEndToHome) {
-                    // If we still haven't found the first coordinate item and we hit a takeoff command this means the mission starts from the ground.
-                    // Link the first item back to home to show that.
-                    if (firstCoordinateNotFound) {
-                        linkStartToHome = true;
-                    }
+                if (!linkEndToHome && firstCoordinateNotFound) {
+                    _missionStartsInVTOLMulticopterMode = true;
+                    linkStartToHome = true;
                 }
                 break;
             case MAV_CMD_NAV_RETURN_TO_LAUNCH:
@@ -1173,7 +1203,9 @@ void MissionController::_recalcMissionFlightStatus()
 
     qCDebug(MissionControllerLog) << "_recalcMissionFlightStatus";
 
-    _flightStatusCalc.recalc(_visualItems, _settingsItem, _controllerVehicle, _managerVehicle, _appSettings, _planViewSettings, _missionContainsVTOLTakeoff);
+    _flightStatusCalc.recalc(
+        _visualItems, _settingsItem, _controllerVehicle, _managerVehicle, _appSettings, _planViewSettings,
+        _missionStartsInVTOLMulticopterMode);
     _missionFlightStatus = _flightStatusCalc.status();
     _minAMSLAltitude = _flightStatusCalc.minAMSLAltitude();
     _maxAMSLAltitude = _flightStatusCalc.maxAMSLAltitude();

diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
@@ -118,6 +118,14 @@ class MissionController : public PlanElementController
     /// @return Newly created item
     Q_INVOKABLE VisualMissionItem* insertTakeoffItem(QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem = false);
 
+    /// Add a multicopter takeoff item for a VTOL which supports remaining in multicopter mode
+    ///     @param coordinate: Coordinate for item
+    ///     @param visualItemIndex: index to insert at, -1 for end of list
+    ///     @param makeCurrentItem: true: Make this item the current item
+    /// @return Newly created item, or nullptr if the vehicle does not support this command behavior
+    Q_INVOKABLE VisualMissionItem* insertVTOLMulticopterTakeoffItem(
+        QGeoCoordinate coordinate, int visualItemIndex, bool makeCurrentItem = false);
+
     /// Add a new land item to the list
     ///     @param coordinate: Coordinate for item
     ///     @param visualItemIndex: index to insert at, -1 for end of list
@@ -385,6 +393,7 @@ private slots:
     void                    _initLoadedVisualItems              (QmlObjectListModel* loadedVisualItems);
     FlightPathSegment*      _addFlightPathSegment               (FlightPathSegmentHashTable& prevItemPairHashTable, VisualItemPair& pair, bool mavlinkTerrainFrame);
     VisualMissionItem*      _insertSimpleMissionItemWorker      (QGeoCoordinate coordinate, MAV_CMD command, int visualItemIndex, bool makeCurrentItem);
+    VisualMissionItem*      _insertTakeoffItemWorker            (MAV_CMD command, int visualItemIndex, bool makeCurrentItem);
     void                    _insertComplexMissionItemWorker     (const QGeoCoordinate& mapCenterCoordinate, ComplexMissionItem* complexItem, int visualItemIndex, bool makeCurrentItem);
     bool                    _isROIBeginItem                     (SimpleMissionItem* simpleItem);
     bool                    _isROICancelItem                    (SimpleMissionItem* simpleItem);
@@ -450,7 +459,7 @@ private slots:
     bool                        _isROIBeginCurrentItem =        false;
     double                      _minAMSLAltitude =              0;
     double                      _maxAMSLAltitude =              0;
-    bool                        _missionContainsVTOLTakeoff =   false;
+    bool                        _missionStartsInVTOLMulticopterMode = false;
 
     QGroundControlQmlGlobal::AltitudeFrame _globalAltFrame = QGroundControlQmlGlobal::AltitudeFrameRelative;
 

diff --git a/src/MissionManager/MissionFlightStatusCalculator.cc b/src/MissionManager/MissionFlightStatusCalculator.cc
@@ -12,7 +12,8 @@
 
 #include <QtMath>
 
-void MissionFlightStatusCalculator::reset(Vehicle* controllerVehicle, Vehicle* managerVehicle, bool missionContainsVTOLTakeoff)
+void MissionFlightStatusCalculator::reset(
+    Vehicle* controllerVehicle, Vehicle* managerVehicle, bool missionStartsInVTOLMulticopterMode)
 {
     _status.totalDistance =        0.0;
     _status.plannedDistance =      0.0;
@@ -36,7 +37,9 @@ void MissionFlightStatusCalculator::reset(Vehicle* controllerVehicle, Vehicle* m
     _status.cruiseAmpsTotal =      0;
     _status.batteryChangePoint =   -1;
     _status.batteriesRequired =    -1;
-    _status.vtolMode =             missionContainsVTOLTakeoff ? QGCMAVLink::VehicleClassMultiRotor : QGCMAVLink::VehicleClassFixedWing;
+    _status.vtolMode = missionStartsInVTOLMulticopterMode
+        ? QGCMAVLink::VehicleClassMultiRotor
+        : QGCMAVLink::VehicleClassFixedWing;
 
     controllerVehicle->firmwarePlugin()->batteryConsumptionData(controllerVehicle, _status.mAhBattery, _status.hoverAmps, _status.cruiseAmps);
     if (_status.mAhBattery != 0) {
@@ -51,7 +54,7 @@ void MissionFlightStatusCalculator::recalc(QmlObjectListModel* visualItems,
                                             Vehicle* managerVehicle,
                                             AppSettings* appSettings,
                                             PlanViewSettings* planViewSettings,
-                                            bool missionContainsVTOLTakeoff)
+                                            bool missionStartsInVTOLMulticopterMode)
 {
     bool                firstCoordinateItem =           true;
     VisualMissionItem*  lastFlyThroughVI =   qobject_cast<VisualMissionItem*>(visualItems->get(0));
@@ -70,7 +73,7 @@ void MissionFlightStatusCalculator::recalc(QmlObjectListModel* visualItems,
 
     _minAMSLAltitude = _maxAMSLAltitude = qQNaN();
 
-    reset(controllerVehicle, managerVehicle, missionContainsVTOLTakeoff);
+    reset(controllerVehicle, managerVehicle, missionStartsInVTOLMulticopterMode);
 
     bool   linkStartToHome =            false;
     bool   foundRTL =                   false;
@@ -242,7 +245,12 @@ void MissionFlightStatusCalculator::recalc(QmlObjectListModel* visualItems,
         // Update VTOL state
         if (simpleItem && controllerVehicle->vtol()) {
             switch (simpleItem->command()) {
-            case MAV_CMD_NAV_TAKEOFF:       // This will do a fixed wing style takeoff
+            case MAV_CMD_NAV_TAKEOFF:
+                if (!controllerVehicle->firmwarePlugin()->isCapable(
+                        controllerVehicle, FirmwarePlugin::VTOLMulticopterTakeoffCapability)) {
+                    _status.vtolMode = QGCMAVLink::VehicleClassFixedWing;
+                }
+                break;
             case MAV_CMD_NAV_VTOL_TAKEOFF:  // Vehicle goes straight up and then transitions to FW
             case MAV_CMD_NAV_LAND:
                 _status.vtolMode = QGCMAVLink::VehicleClassFixedWing;

diff --git a/src/MissionManager/MissionFlightStatusCalculator.h b/src/MissionManager/MissionFlightStatusCalculator.h
@@ -20,7 +20,7 @@ class MissionFlightStatusCalculator
 {
 public:
     /// Resets the flight status fields to defaults based on vehicle properties.
-    void reset(Vehicle* controllerVehicle, Vehicle* managerVehicle, bool missionContainsVTOLTakeoff);
+    void reset(Vehicle* controllerVehicle, Vehicle* managerVehicle, bool missionStartsInVTOLMulticopterMode);
 
     /// Runs the full recalculation over all visual items, updating per-item
     /// display properties and computing aggregate flight statistics.
@@ -30,7 +30,7 @@ class MissionFlightStatusCalculator
                 Vehicle* managerVehicle,
                 AppSettings* appSettings,
                 PlanViewSettings* planViewSettings,
-                bool missionContainsVTOLTakeoff);
+                bool missionStartsInVTOLMulticopterMode);
 
     const MissionFlightStatus_t& status() const { return _status; }
     double minAMSLAltitude() const { return _minAMSLAltitude; }

diff --git a/src/MissionManager/TakeoffMissionItem.cc b/src/MissionManager/TakeoffMissionItem.cc
@@ -1,11 +1,13 @@
 #include "TakeoffMissionItem.h"
+
+#include "FirmwarePlugin.h"
 #include "MissionCommandTree.h"
-#include "QGroundControlQmlGlobal.h"
-#include "SettingsManager.h"
-#include "PlanViewSettings.h"
-#include "PlanMasterController.h"
 #include "MissionSettingsItem.h"
 #include "MultiVehicleManager.h"
+#include "PlanMasterController.h"
+#include "PlanViewSettings.h"
+#include "QGroundControlQmlGlobal.h"
+#include "SettingsManager.h"
 #include "Vehicle.h"
 
 TakeoffMissionItem::TakeoffMissionItem(PlanMasterController* masterController, bool flyView, MissionSettingsItem* settingsItem, bool forLoad)
@@ -112,7 +114,12 @@ bool TakeoffMissionItem::isTakeoffCommand(MAV_CMD command)
 void TakeoffMissionItem::_initLaunchTakeoffAtSameLocation(void)
 {
     if (specifiesCoordinate()) {
-        if (_controllerVehicle->fixedWing() || _controllerVehicle->vtol()) {
+        const bool isVTOLMulticopterTakeoff =
+            _controllerVehicle->vtol()
+            && mavCommand() == MAV_CMD_NAV_TAKEOFF
+            && _controllerVehicle->firmwarePlugin()->isCapable(
+                _controllerVehicle, FirmwarePlugin::VTOLMulticopterTakeoffCapability);
+        if (_controllerVehicle->fixedWing() || (_controllerVehicle->vtol() && !isVTOLMulticopterTakeoff)) {
             _setLaunchTakeoffAtSameLocation(false);
         } else {
             // PX4 specifies a coordinate for takeoff even for multi-rotor. But it makes more sense to not have a coordinate

diff --git a/src/PlanView/PlanView.qml b/src/PlanView/PlanView.qml
@@ -194,6 +194,11 @@ Item {
         _missionController.insertTakeoffItem(mapCenter(), nextIndex, true /* makeCurrentItem */)
     }
 
+    function insertVTOLMulticopterTakeoffItemAfterCurrent() {
+        var nextIndex = _missionController.currentPlanViewVIIndex + 1
+        _missionController.insertVTOLMulticopterTakeoffItem(mapCenter(), nextIndex, true /* makeCurrentItem */)
+    }
+
     function insertLandItemAfterCurrent() {
         var nextIndex = _missionController.currentPlanViewVIIndex + 1
         _missionController.insertLandItem(mapCenter(), nextIndex, true /* makeCurrentItem */)
@@ -454,6 +459,9 @@ Item {
                         iconSource: "/res/takeoff.svg"
                         enabled: _missionController.isInsertTakeoffValid
                         visible: toolStrip._isMissionLayer && !_planMasterController.controllerVehicle.rover
+                        dropPanelComponent: _planMasterController.controllerVehicle.supports.vtolMulticopterTakeoff
+                                            ? vtolTakeoffDropPanel
+                                            : null
                         onTriggered: {
                             insertTakeoffItemAfterCurrent()
                         }
@@ -808,6 +816,39 @@ Item {
         } // Column
     }
 
+    Component {
+        id: vtolTakeoffDropPanel
+
+        ColumnLayout {
+            spacing: ScreenTools.defaultFontPixelWidth * 0.5
+
+            QGCLabel { text: qsTr("Choose takeoff mode:") }
+
+            QGCButton {
+                objectName: "planTakeoff_vtolButton"
+                text: qsTr("VTOL takeoff")
+                Layout.fillWidth: true
+                primary: true
+
+                onClicked: {
+                    insertTakeoffItemAfterCurrent()
+                    dropPanel.hide()
+                }
+            }
+
+            QGCButton {
+                objectName: "planTakeoff_mcButton"
+                text: qsTr("Multicopter takeoff")
+                Layout.fillWidth: true
+
+                onClicked: {
+                    insertVTOLMulticopterTakeoffItemAfterCurrent()
+                    dropPanel.hide()
+                }
+            }
+        }
+    }
+
     QGCPopupDialogFactory {
         id: promptForPlanUsageOnVehicleChangePopupFactory
 

diff --git a/src/Vehicle/VehicleSupports.cc b/src/Vehicle/VehicleSupports.cc
@@ -86,3 +86,8 @@ bool VehicleSupports::changeHeading() const
 {
     return _vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::ChangeHeadingCapability);
 }
+
+bool VehicleSupports::vtolMulticopterTakeoff() const
+{
+    return _vehicle->firmwarePlugin()->isCapable(_vehicle, FirmwarePlugin::VTOLMulticopterTakeoffCapability);
+}
diff --git a/src/Vehicle/VehicleSupports.h b/src/Vehicle/VehicleSupports.h
@@ -30,6 +30,7 @@ class VehicleSupports : public QObject
     Q_PROPERTY(bool guidedTakeoffWithAltitude       READ guidedTakeoffWithAltitude      CONSTANT)
     Q_PROPERTY(bool guidedTakeoffWithoutAltitude    READ guidedTakeoffWithoutAltitude   CONSTANT)
     Q_PROPERTY(bool changeHeading                   READ changeHeading                  CONSTANT)
+    Q_PROPERTY(bool vtolMulticopterTakeoff          READ vtolMulticopterTakeoff         CONSTANT)
 
     bool throttleModeCenterZero() const;
     bool negativeThrust() const;
@@ -46,6 +47,7 @@ class VehicleSupports : public QObject
     bool guidedTakeoffWithAltitude() const;
     bool guidedTakeoffWithoutAltitude() const;
     bool changeHeading() const;
+    bool vtolMulticopterTakeoff() const;
 
 signals:
     void terrainFrameChanged();

diff --git a/test/MissionManager/MissionCommandTreeTest.cc b/test/MissionManager/MissionCommandTreeTest.cc
@@ -176,6 +176,16 @@ void MissionCommandTreeTest::testOverride()
     delete vehicle;
 }
 
+void MissionCommandTreeTest::testPX4VTOLTakeoffOverride()
+{
+    MissionCommandList commandList(QStringLiteral(":/json/PX4-MavCmdInfoVTOL.json"), false /* baseCommandList */);
+    const MissionCommandUIInfo* const takeoffInfo = commandList.getUIInfo(MAV_CMD_NAV_TAKEOFF);
+
+    QVERIFY(takeoffInfo);
+    QCOMPARE(takeoffInfo->description(),
+             QStringLiteral("Take off vertically and continue the mission in multicopter mode."));
+}
+
 void MissionCommandTreeTest::testAllTrees()
 {
     ignoreLogMessage("FirmwarePlugin.ParameterMetaData", QtWarningMsg, QRegularExpression("Skipping invalid enum value"));

diff --git a/test/MissionManager/MissionCommandTreeTest.h b/test/MissionManager/MissionCommandTreeTest.h
@@ -18,6 +18,7 @@ private slots:
 
     void testJsonLoad();
     void testOverride();
+    void testPX4VTOLTakeoffOverride();
     void testAllTrees();
     void testUnknownCommandFallbacks();