# HereLink - TAKEOFF Flight Mode Missing **URL:** \ **Category:** HereLink\ **Created:** [9 April 2020 17:47 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168 "2020-04-09T17:47:17Z")\ **Posts on this page:** 14\ **Page:** 1
**Author:** ![louisianahelicam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/louisianahelicam/32/2063_2.png) [@louisianahelicam](https://discuss.cubepilot.org/u/louisianahelicam)\ **Post date:** [9 April 2020 17:47 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/1 "2020-04-09T17:47:18Z")
I’m not seeing TAKEOFF in the HereLink flight modes list. How are you getting around this? ---
**Author:** ![louisianahelicam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/louisianahelicam/32/2063_2.png) [@louisianahelicam](https://discuss.cubepilot.org/u/louisianahelicam)\ **Post date:** [9 April 2020 18:36 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/2 "2020-04-09T18:36:36Z")
I can set it up in MP and assign it to my mode switch. Just says “Unknown” in the HereLink. ---
**Author:** ![frame](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/f/d07c76/32.png) [@frame](https://discuss.cubepilot.org/u/frame)\ **Post date:** [10 April 2020 19:29 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/3 "2020-04-10T19:29:46Z")
I use minimal flightplan for takeoff. Flightplan with just takeoff and landing waypoints. Once in the air, switcing flight mode to FBWB or CRUISE. ---
**Author:** ![louisianahelicam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/louisianahelicam/32/2063_2.png) [@louisianahelicam](https://discuss.cubepilot.org/u/louisianahelicam)\ **Post date:** [11 April 2020 04:21 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/4 "2020-04-11T04:21:21Z")
But do we need to actually plan a mission for the new Takeoff flight mode? Nobody can seem to provide a clear answer on this. I’ve tried forums, FB, YouTube, etc. and nobody can seem to answer it. ---
**Author:** ![Banme\_RC](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/banme_rc/32/769_2.png) [@Banme\_RC](https://discuss.cubepilot.org/u/Banme_RC)\ **Post date:** [11 April 2020 06:23 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/5 "2020-04-11T06:23:43Z")
With APM new version, take off mode is independent mode, no need waypoint (enter auto mode). Read describe in this clip. ---
**Author:** ![louisianahelicam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/louisianahelicam/32/2063_2.png) [@louisianahelicam](https://discuss.cubepilot.org/u/louisianahelicam)\ **Post date:** [17 April 2020 18:32 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/7 "2020-04-17T18:32:59Z")
Right, but the latest HereLink firmware doesn’t have TAKEOFF flight mode in the flight modes list. ---
**Author:** ![MadRC](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/madrc/32/2088_2.png) [@MadRC](https://discuss.cubepilot.org/u/MadRC)\ **Post date:** [17 April 2020 18:51 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/8 "2020-04-17T18:51:53Z")
Iv not tested this yet but can it be added as a custom Mavlink Command as Solex supports that. I’m just having a look into it now ---
**Author:** ![Banme\_RC](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/banme_rc/32/769_2.png) [@Banme\_RC](https://discuss.cubepilot.org/u/Banme_RC)\ **Post date:** [18 April 2020 02:37 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/9 "2020-04-18T02:37:05Z")
Your question was anwsered clearly! ---
**Author:** ![louisianahelicam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/louisianahelicam/32/2063_2.png) [@louisianahelicam](https://discuss.cubepilot.org/u/louisianahelicam)\ **Post date:** [21 April 2020 23:49 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/11 "2020-04-21T23:49:41Z")
Is there a way to get it in the flight modes list in Solex now? ---
**Author:** ![MadRC](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/madrc/32/2088_2.png) [@MadRC](https://discuss.cubepilot.org/u/MadRC)\ **Post date:** [22 April 2020 06:45 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/12 "2020-04-22T06:45:09Z")
It’s been requested. You could try the custom Mavlink command option but I have not tested that my self yet. ---
**Author:** ![patrickpoirier](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/patrickpoirier/32/3528_2.png) [@patrickpoirier](https://discuss.cubepilot.org/u/patrickpoirier)\ **Post date:** [21 July 2021 13:37 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/13 "2021-07-21T13:37:27Z")
Any update on this ? ---
**Author:** ![louisianahelicam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/louisianahelicam/32/2063_2.png) [@louisianahelicam](https://discuss.cubepilot.org/u/louisianahelicam)\ **Post date:** [21 July 2021 13:54 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/14 "2021-07-21T13:54:49Z")
I had to disable the “Solo” voice option ---
**Author:** ![patrickpoirier](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/patrickpoirier/32/3528_2.png) [@patrickpoirier](https://discuss.cubepilot.org/u/patrickpoirier)\ **Post date:** [21 July 2021 14:12 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/15 "2021-07-21T14:12:37Z")
I mean on QgroundControl App as a button or option on scroll down menu ---
**Author:** ![louisianahelicam](https://discuss.cubepilot.org/user_avatar/discuss.cubepilot.org/louisianahelicam/32/2063_2.png) [@louisianahelicam](https://discuss.cubepilot.org/u/louisianahelicam)\ **Post date:** [21 July 2021 14:23 UTC](https://discuss.cubepilot.org/t/herelink-takeoff-flight-mode-missing/3168/16 "2021-07-21T14:23:44Z")
Solex