diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index 8c196cd5bd..97e0c321b3 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -161,6 +161,7 @@ bool AP_Mission::is_takeoff_next(uint16_t cmd_index)
         }
         switch (cmd.id) {
         // any of these are considered a takeoff command:
+        case MAV_CMD_NAV_VTOL_TAKEOFF:
         case MAV_CMD_NAV_TAKEOFF:
         case MAV_CMD_NAV_TAKEOFF_LOCAL:
             return true;