From 2d9c6867f468072f9784ac3fc752fd840337a411 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 15 Mar 2021 14:02:54 +0900
Subject: [PATCH] Copter: accept MISSION_START commands when vehicle is
 disarmed

---
 ArduCopter/GCS_Mavlink.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 180a5298fd..6cfa59c472 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -796,8 +796,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
 
 #if MODE_AUTO_ENABLED == ENABLED
     case MAV_CMD_MISSION_START:
-        if (copter.motors->armed() &&
-            copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
+        if (copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
             copter.set_auto_armed(true);
             if (copter.mode_auto.mission.state() != AP_Mission::MISSION_RUNNING) {
                 copter.mode_auto.mission.start_or_resume();