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210b15db4d
1. Allowing arming in pathplanner 2. Takeoff activation requires throttle to be above 30% 3. Takeoff occurs at the current/actual position and rises vertical to the settings altititude. 4. The details of the takeoff waypoint are effectively ignored - this is a simplicifcation to avoid having to have pathplanner inject a flyvector command from the current location to the waypoint 5. We hard code the condition check for autotakeoff as only one mode is supported.