ArduPlane: add quadplane takeoff for DDS

Signed-off-by: Ryan Friedman <[email protected]>

Author: Ryanf55

ArduPlane/Plane.cpp

@@ -1012,6 +1012,13 @@ bool Plane::is_taking_off() const
     return control_mode->is_taking_off();
 }
 
+#if HAL_QUADPLANE_ENABLED
+bool Plane::start_takeoff(const float alt) {
+    return plane.quadplane.available() && quadplane.do_user_takeoff(alt);
+
+}
+#endif
+
 // correct AHRS pitch for PTCH_TRIM_DEG in non-VTOL modes, and return VTOL view in VTOL
 void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
 {

ArduPlane/Plane.h

@@ -1001,7 +1001,10 @@ class Plane : public AP_Vehicle {
     void do_vtol_takeoff(const AP_Mission::Mission_Command& cmd);
     void do_vtol_land(const AP_Mission::Mission_Command& cmd);
     bool verify_nav_wp(const AP_Mission::Mission_Command& cmd);
+
 #if HAL_QUADPLANE_ENABLED
+    // vtol takeoff from AP_Vehicle for quadplane.
+    bool start_takeoff(const float alt) override;
     bool verify_landing_vtol_approach(const AP_Mission::Mission_Command& cmd);
 #endif
     void do_wait_delay(const AP_Mission::Mission_Command& cmd);