diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 04b010f262..7ee4b2b671 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -606,17 +606,6 @@ void ModeGuided::accel_control_run()
         }
     }
 
-    // landed with positive desired climb rate, initiate takeoff
-    if (motors->armed() && copter.ap.auto_armed && copter.ap.land_complete && is_positive(guided_vel_target_cms.z)) {
-        zero_throttle_and_relax_ac();
-        motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
-        if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
-            set_land_complete(false);
-            set_throttle_takeoff();
-        }
-        return;
-    }
-
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
         make_safe_spool_down();
@@ -677,17 +666,6 @@ void ModeGuided::velaccel_control_run()
         }
     }
 
-    // landed with positive desired climb rate, initiate takeoff
-    if (motors->armed() && copter.ap.auto_armed && copter.ap.land_complete && is_positive(guided_vel_target_cms.z)) {
-        zero_throttle_and_relax_ac();
-        motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
-        if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
-            set_land_complete(false);
-            set_throttle_takeoff();
-        }
-        return;
-    }
-
     // if not armed set throttle to zero and exit immediately
     if (is_disarmed_or_landed()) {
         make_safe_spool_down();