Dds quadplane takeoff

ArduPlane/Plane.cpp

@@ -1012,6 +1012,12 @@ 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

@@ -1002,6 +1002,8 @@ class Plane : public AP_Vehicle {
     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);

Tools/ros2/ardupilot_msgs/srv/Takeoff.srv

@@ -1,5 +1,5 @@
 
-# This service requests the vehicle to takeoff
+# This service requests the vehicle to takeoff (VTOL style for QuadPlane).
 
 # alt : Set the takeoff altitude above home or above terrain(in case of rangefinder)