diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp
index 6a065bc2dd..0d6cfda1fe 100644
--- a/ArduPlane/servos.cpp
+++ b/ArduPlane/servos.cpp
@@ -556,8 +556,8 @@ void Plane::set_servos_controlled(void)
 
     // let EKF know to start GSF yaw estimator before takeoff movement starts so that yaw angle is better estimated
     const float throttle = SRV_Channels::get_output_scaled(SRV_Channel::k_throttle);
-    if (!is_flying() && arming.is_armed()) {
-        bool throw_detected = sq(ahrs.get_accel_ef().x) + sq(ahrs.get_accel_ef().y) > sq(g.takeoff_throttle_min_accel);
+    if (arming.is_armed()) {
+        bool throw_detected = ahrs.get_accel().x - GRAVITY_MSS * ahrs.sin_pitch() > GRAVITY_MSS;
         bool throttle_up_detected = throttle > aparm.throttle_cruise;
         if (throw_detected || throttle_up_detected) {
             plane.ahrs.setTakeoffExpected(true);