AUTO Take off mode

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is there anyone who could do auto take off mode  (not auto mission)using pixhawk ?

i.e: using a transmitter by a switch it shall take off to a specific height .

I would appreciate any help .
my pixhawk is up-to-date also which is v4.0.5.

But there is not such a  parameter in my pixhawk which is listed in link below : (e.g. TKOFF_THR_MAX )

see this link also :


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