Position mode takeoff goes into altitude hold on ArduPilot

[julianoes]

There seems to be an issue where taking off in ArduPilot doesn't use position hold but instead only altitude control.

In general, we should revisit how to do a safe take off with ArduPilot. Some flight modes require throttle to be held down (altitude and position hold), while arming in loiter isn't possible like in PX4.

Also, presumably auto mode automatically arms with ArduPilot? Worth checking.