diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index d337cea887..fe06ba3a07 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -496,7 +496,7 @@ void Plane::do_loiter_to_alt(const AP_Mission::Mission_Command& cmd)
 /********************************************************************************/
 bool Plane::verify_takeoff()
 {
-    if (ahrs.yaw_initialised() && steer_state.hold_course_cd == -1) {
+    if (ahrs.dcm_yaw_initialised() && steer_state.hold_course_cd == -1) {
         const float min_gps_speed = 5;
         if (auto_state.takeoff_speed_time_ms == 0 && 
             gps.status() >= AP_GPS::GPS_OK_FIX_3D &&