Updated according to #27758

Author: Georacer

plane/source/docs/automatic-takeoff.rst

@@ -42,8 +42,6 @@ You should try to launch into the wind whenever possible.
 
 By default, the throttle will be set at :ref:`TKOFF_THR_MAX<TKOFF_THR_MAX>`
 during all of the climb. For more fine-grained control, please read :ref:`takeoff-throttle`.
-Note that the setting of :ref:`TKOFF_LVL_ALT<TKOFF_LVL_ALT>` doesn't affect
-the throttle in AUTO flight mode.
 
 Hand Launching
 ==============

plane/source/docs/takeoff-mode.rst

@@ -16,9 +16,11 @@ reached the target altitude specified in the mission. The mission will then exec
 TAKEOFF Flight Mode
 ===================
 
-In ArduPlane 4.0 and later, Automatic Takeoff is also a mode itself. When entered, the plane will use maximum throttle as set by the :ref:`TKOFF_THR_MAX<TKOFF_THR_MAX>` parameter, climbing with :ref:`TKOFF_LVL_PITCH<TKOFF_LVL_PITCH>` maximum and takeoff roll limits (:ref:`LEVEL_ROLL_LIMIT<LEVEL_ROLL_LIMIT>` ), climbing to the :ref:`TKOFF_ALT<TKOFF_ALT>` altitude and proceeding at the initial launch heading until :ref:`TKOFF_DIST<TKOFF_DIST>` from the point where the mode is entered. It will then loiter, as in LOITER mode, at :ref:`TKOFF_ALT<TKOFF_ALT>` altitude until the mode is changed.
+In ArduPlane 4.0 and later, Automatic Takeoff is also a mode itself. When entered, the plane will use maximum throttle as set by the :ref:`TKOFF_THR_MAX<TKOFF_THR_MAX>` parameter, climbing with :ref:`TKOFF_LVL_PITCH<TKOFF_LVL_PITCH>` maximum and takeoff roll limits (:ref:`LEVEL_ROLL_LIMIT<LEVEL_ROLL_LIMIT>` ) up to the :ref:`TKOFF_ALT<TKOFF_ALT>` altitude.
+Then, it will loiter at :ref:`TKOFF_ALT<TKOFF_ALT>` altitude until the mode is changed.
+If the plane travels for :ref:`TKOFF_DIST<TKOFF_DIST>` from the point where the mode is entered, before reaching :ref:`TKOFF_ALT<TKOFF_ALT>` altitude, then it will loiter on that spot, still trying to climb to :ref:`TKOFF_ALT<TKOFF_ALT>`.
 
-Once :ref:`TKOFF_LVL_ALT<TKOFF_LVL_ALT>` is reached, or the loiter point distance is reached, maximum throttle and takeoff roll limits (:ref:`LEVEL_ROLL_LIMIT<LEVEL_ROLL_LIMIT>` ) are stopped and normal navigation begins to the loiter point and altitude. Normally, :ref:`TKOFF_LVL_ALT<TKOFF_LVL_ALT>` is 5-10 meters and is intended to limit navigation (roll) in order to prevent wing tip ground strikes.
+Once :ref:`TKOFF_LVL_ALT<TKOFF_LVL_ALT>` is reached, or the loiter point distance is reached, maximum throttle and takeoff roll limits (:ref:`LEVEL_ROLL_LIMIT<LEVEL_ROLL_LIMIT>` ) are stopped and normal navigation begins to the loiter point and altitude. Normally, :ref:`TKOFF_LVL_ALT<TKOFF_LVL_ALT>` is 10 meters and is intended to limit navigation (roll) in order to prevent wing tip ground strikes.
 
 If the mode is entered while already flying, it will immediately begin loitering as in LOITER mode if at or above :ref:`TKOFF_ALT<TKOFF_ALT>` altitude above ground, otherwise it will climb to that altitude and then begin loitering .
 
@@ -46,13 +48,13 @@ TAKEOFF Throttle
 ================
 
 By default, Plane will set the throttle to :ref:`TKOFF_THR_MAX<TKOFF_THR_MAX>` (or if that is 0, to :ref:`THR_MAX<THR_MAX>`) up until it reaches :ref:`TKOFF_ALT<TKOFF_ALT>`.
-This behaviour is reflected in the :ref:`TKOFF_OPTIONS<TKOFF_OPTIONS>` bit 0 setting, which by default is 0.
+This behaviour is reflected in the :ref:`TKOFF_OPTIONS<TKOFF_OPTIONS>` bit 0 setting, which by default is 0 (unset).
 
 In case more fine-grained throttle control is required, an airspeed sensor must be installed and enabled via the :ref:`ARPSD_USE<ARSPD_USE>` parameter and :ref:`TKOFF_OPTIONS<TKOFF_OPTIONS>` bit 0 must be set to 1.
 
 In this configuration, right after takeoff the throttle is set to :ref:`TKOFF_THR_MAX<TKOFF_THR_MAX>` for :ref:`TKOFF_THR_MAX_T<TKOFF_THR_MAX_T>` or until :ref:`TKOFF_LVL_ALT<TKOFF_LVL_ALT>` (whichever lasts longer).
 
-Finally, the throttle will be managed to achieve a controlled climb, ranging between :ref:`TKOFF_THR_MIN<TKOFF_THR_MIN>` and :ref:`TKOFF_THR_MAX<TKOFF_THR_MAX>`.
+Finally, the throttle will be managed by the TECS controller to achieve a controlled climb, ranging between :ref:`TKOFF_THR_MIN<TKOFF_THR_MIN>` and :ref:`TKOFF_THR_MAX<TKOFF_THR_MAX>`.
 
 The difference between these two throttle control options can be seen in the following diagrams: