# Mission Start Action {% hint style="info" %} A **VTOL (Vertical Takeoff and Landing) Takeoff** refers to a vehicle's ability to lift off vertically, eliminating the need for a runway. Once airborne, the drone transitions from **Multirotor Flight (Hover)** to **Fixed-wing Flight (Aero)**, enabling more efficient forward flight and greater range. The **transition** is a critical phase where the vehicle switches from vertical lift, using rotors, to forward thrust, using its wings to generate lift, optimizing performance for long-distance travel. {% endhint %}
1. First, enter the **Plan View** via the **AMC Menu**.
2. When the **Plan View** is selected the **Mission Editor** appears on the right side of the screen.
3. Click on **Add VTOL Takeoff**. When the DeltaQuad Evo is connected to **AMC**, the **VTOL Takeoff** and **Transition** **item** is automatically placed at the vehicle's current location. The transition direction is also planned automatically, aligning with the vehicle’s nose to ensure a takeoff and transition into the wind. The **Transition Direction** item can be adjusted by dragging it to the desired location on the map. {% hint style="warning" %} The **Transition Direction** item must be planned so that the vehicle performs the **Takeoff** and **Transition** into the wind. {% endhint %} 4. If the vehicle is not connected to **AMC**, a dialog window will appear. Click on the map to set the planned launch location, and adjust the **Transition Direction** item to the desired position.
{% hint style="info" %} If the vehicle is not connected to AMC during mission planning, make sure to select **VTOL** for the **Vehicle Type**. {% endhint %}
5. After the **VTOL Takeoff** and **Transition** **Direction** item is placed, the **VTOL Takeoff Altitude** must be set. {% hint style="warning" %} The minimum **VTOL Takeoff Altitude** is **15 meters** above any obstacle in the takeoff area. For example, if the average tree height in the takeoff area is 10 meters, the **VTOL Takeoff Altitude** must be set to at least 25 meters. {% endhint %}
6. Set the **VTOL Takeoff Altitude** by adjusting the **Altitude Slider** or by typing in the desired altitude.
{% hint style="info" %} In **Multirotor Mode (Hover)**, the DeltaQuad Evo uses up to 12 times more energy compared to **Fixed-wing Mode (Aero)**. The **VTOL Takeoff Altitude** cannot be set higher than **100 meters**, as this will impact the total flight time. As a rule of thumb, every additional minute ascending in **Hover Mode** will reduce the total mission length by 10 km, while every extra minute descending in Hover Mode will reduce it by 7 km. {% endhint %} The **Altitude Frame** is set to **HGT** by default. For standard operation, it is recommended to leave this setting as it is.
7. Always verify ground elevation using the **Terrain Altitude Indicator**. A ground collision is indicated when the **orange line turns red** in the Terrain Altitude Indicator and is also visible on the map.
## Altitude Frame Options
SymbolMeaning
HGTHeight (Heights are referenced to the takeoff location)
MSLMean Sea Level (Altitude Above Mean Sea Leve)
AGLAbove Ground Level (Altitude Above Ground Level)
In the **Initial Mission Settings**, the default value for the **Default Waypoints Altitude** can be set. This altitude will be applied to all waypoints during the planning stage but can be changed for each waypoint individually. A new waypoint will take over the altitude of the previous waypoint.
The **Default Waypoints Altitude** value and the available range of the slider can also be set in the **AMC Menu** under **Settings -> General -> Plan View**.