diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index c6f8fdbd81c1a2accf513e1ad5ce36c607bca679..d03a37ade37cf9a55d14011a3a8c27d780816764 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -3654,6 +3654,15 @@ Used to calculate increased terrain random walk nosie due to movement</short_des
         <value code="1">Assume no use of remote control after fallback. Switch to DESCEND if a height estimate is available, else switch to TERMINATION.</value>
       </values>
     </parameter>
+    <parameter default="0" name="COM_TAKEOFF_ACT" type="INT32">
+      <short_desc>Action after TAKEOFF has been accepted</short_desc>
+      <long_desc>The mode transition after TAKEOFF has completed successfully.</long_desc>
+      <scope>modules/commander</scope>
+      <values>
+        <value code="0">Hold</value>
+        <value code="1">Mission (if valid)</value>
+      </values>
+    </parameter>
     <parameter default="1" name="MIS_ALTMODE" type="INT32">
       <short_desc>Altitude setpoint mode</short_desc>
       <long_desc>0: the system will follow a zero order hold altitude setpoint 1: the system will follow a first order hold altitude setpoint values follow the definition in enum mission_altitude_mode</long_desc>