Autonomous flight plan ARMavLink- takeoff function



I am trying to write a program to generate the MavLink file required for the autonomous flight mission. I was wondering if the the takeoff command means that the drone will take off and fly to the given coordinates provided within the parameters of this function or should I create waypointMissionItems separately:

  • @brief Fill a takeoff mission item with the given params and the default params
  • @param[out] missionItem : pointer on the mission item to fill
  • @param[in] latitude : the latitude of the mission item
  • @param[in] longitude : the longitude of the mission item
  • @param[in] altitude : the altitude of the mission item
  • @param[in] yaw : the yaw of the mission item
  • @param[in] pitch : desired pitch
  • @return ARMAVLINK_OK if operation went well, the enum description of the error otherwise
    eARMAVLINK_ERROR ARMAVLINK_MissionItemUtils_CreateMavlinkTakeoffMissionItem(mavlink_mission_item_t
    missionItem, float latitude, float longitude, float altitude, float yaw, float pitch);

Thanks in advance,



By giving this mission item, the Bebop will take off an directly fly to the given location.
Hope this helps,


Thank you so much for your reply, it was helpful indeed :slight_smile: .