Mode changes to Joystick after takeoff

@bcmacman ,
What drone? What environment (open field, urban, flat, hilly, etc)? What distance was the 1st waypoint from your home position?
Without knowing some additional details, its impossible to tell.
It would also help if you will share the mission and the flight log.
Here is some helpful info.

And at the way at the bottom of this next screen, you should see

Getting Help With Your Flight Logs

Upload here, then others can view the log info.