diff --git a/ArduCopter/control_guided.cpp b/ArduCopter/control_guided.cpp
index f47d7fa209..8bd7282b34 100644
--- a/ArduCopter/control_guided.cpp
+++ b/ArduCopter/control_guided.cpp
@@ -333,17 +333,21 @@ void Copter::guided_run()
 //      called by guided_run at 100hz or more
 void Copter::guided_takeoff_run()
 {
-    // if not auto armed or motors not enabled set throttle to zero and exit immediately
+    // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
     if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
+        // initialise wpnav targets
+        wp_nav.shift_wp_origin_to_current_pos();
 #if FRAME_CONFIG == HELI_FRAME  // Helicopters always stabilize roll/pitch/yaw
         // call attitude controller
         attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
         attitude_control.set_throttle_out(0,false,g.throttle_filt);
-#else
+#else   // multicopters do not stabilize roll/pitch/yaw when disarmed
         motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
-        // multicopters do not stabilize roll/pitch/yaw when disarmed
+        // reset attitude control targets
         attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
 #endif
+        // clear i term when we're taking off
+        set_throttle_takeoff();
         return;
     }
 
@@ -354,6 +358,18 @@ void Copter::guided_takeoff_run()
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
     }
 
+#if FRAME_CONFIG == HELI_FRAME
+    // helicopters stay in landed state until rotor speed runup has finished
+    if (motors.rotor_runup_complete()) {
+        set_land_complete(false);
+    } else {
+        // initialise wpnav targets
+        wp_nav.shift_wp_origin_to_current_pos();
+    }
+#else
+    set_land_complete(false);
+#endif
+
     // set motors to full range
     motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);