diff --git a/ArduCopter/control_althold.cpp b/ArduCopter/control_althold.cpp
index d1fd0a05b6..d475287b08 100644
--- a/ArduCopter/control_althold.cpp
+++ b/ArduCopter/control_althold.cpp
@@ -43,10 +43,16 @@ void Copter::althold_run()
     float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->control_in);
     target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
 
+#if FRAME_CONFIG == HELI_FRAME
+    bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()) && motors.rotor_runup_complete());
+#else
+    bool takeoff_triggered = (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()));
+#endif
+
     // Alt Hold State Machine Determination
     if(!ap.auto_armed || !motors.get_interlock()) {
         althold_state = AltHold_Disarmed;
-    } else if (takeoff_state.running || (ap.land_complete && (channel_throttle->control_in > get_takeoff_trigger_throttle()))){
+    } else if (takeoff_state.running || takeoff_triggered){
         althold_state = AltHold_Takeoff;
     } else if (ap.land_complete){
         althold_state = AltHold_Landed;