src/MissionManager/TakeoffMissionItem.cc

@@ -115,7 +115,7 @@ bool TakeoffMissionItem::isTakeoffCommand(MAV_CMD command)
 void TakeoffMissionItem::_initLaunchTakeoffAtSameLocation(void)
 {
     if (specifiesCoordinate()) {
-        if (_vehicle->fixedWing()) {
+        if (_vehicle->fixedWing() || _vehicle->vtol()) {
             setLaunchTakeoffAtSameLocation(false);
         } else {
             // PX4 specifies a coordinate for takeoff even for non fixed wing. But it makes more sense to not have a coordinate

src/MissionManager/VisualMissionItem.h

@@ -47,6 +47,7 @@ public:
     };
     Q_ENUM(ReadyForSaveState)
 
+    Q_PROPERTY(Vehicle*         vehicle                             READ vehicle                                                            CONSTANT)
     Q_PROPERTY(bool             homePosition                        READ homePosition                                                       CONSTANT)                                           ///< true: This item is being used as a home position indicator
     Q_PROPERTY(QGeoCoordinate   coordinate                          READ coordinate                         WRITE setCoordinate             NOTIFY coordinateChanged)                           ///< This is the entry point for a waypoint line into the item. For a simple item it is also the location of the item
     Q_PROPERTY(double           terrainAltitude                     READ terrainAltitude                                                    NOTIFY terrainAltitudeChanged)                      ///< The altitude of terrain at the coordinate position, NaN if not known

src/PlanView/SimpleItemEditor.qml

@@ -66,7 +66,7 @@ Rectangle {
             visible:            missionItem.isTakeoffItem && missionItem.wizardMode // Hack special case for takeoff item
 
             QGCLabel {
-                text:               qsTr("Move 'T' Takeoff to the climbout location.")
+                text:               qsTr("Move 'T' Takeoff to the %1 location.").arg(missionItem.vehicle.vtol ? qsTr("desired") : qsTr("climbout"))
                 Layout.fillWidth:   true
                 wrapMode:           Text.WordWrap
                 visible:            !initialClickLabel.visible
@@ -76,7 +76,7 @@ Rectangle {
                 text:               qsTr("Ensure clear of obstacles and into the wind.")
                 Layout.fillWidth:   true
                 wrapMode:           Text.WordWrap
-                visible:            !initialClickLabel.visible
+                visible:            !initialClickLabel.visible && !missionItem.vehicle.vtol
             }
 
             QGCButton {