From IEEE Spectrum:

The airplane is initially parked on a runway of an airport. The robot prepares the flight by 1) pulling throttle to zero-point, 2) turning on the battery, 3) the altimeter, 4) the avionics, 5) the fuel pump, and 6) start the engine while pressing the switches on the panel. Then, PIBOT grabs the two control sticks for flight control and brakes are released. When the heading of the airplane aligns with the runway within an error less than 5 degree and its speed exceeds the taxiing speed, the second sequence begins and PIBOT increase the power... (cont'd)