Where is the documentation that explains Auto Takeoff?

The little I found says the throttle is manual. I have it programmed as the fist step in a mission. As soon as I select auto mode the throttle goes to max. If I land, reset the mission and select auto again the throttle stays at zero. What am I doing wrong?

What is the proper procedure for Auto Takeoff?

I would like an Auto Takeoff and then go to an unlimited loiter so I could get setup for FPV.

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No one answered BR928's other question.

How do you reset the mission to Takeoff is armed again. I have found that I need to re-write the mission before each take-off. Is there an easier way? Is there a way that doesn't require mission planner?

I have the Hexa C from 3D Robotics. I have yet to perform an autonomous flight mainly because I can't find the docs on where to auto-launch, fly wp's and then RTL. How do I make the transition from flying with my DX8 to autonomous, mission planner flight?

Thanks,
Guy

Detailed documentation can be found here: http://plane.ardupilot.com/wiki/automatic-takeoff 

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