diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index 9f414b538e..073d0e697e 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -207,11 +207,6 @@ float Copter::get_non_takeoff_throttle()
     return MAX(0,motors.get_throttle_hover()/2.0f);
 }
 
-float Copter::get_takeoff_trigger_throttle()
-{
-    return channel_throttle->get_control_mid() + g.takeoff_trigger_dz;
-}
-
 // get_surface_tracking_climb_rate - hold copter at the desired distance above the ground
 //      returns climb rate (in cm/s) which should be passed to the position controller
 float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index c7a4f04331..7af0f0f88f 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -650,7 +650,6 @@ private:
     float get_pilot_desired_throttle(int16_t throttle_control);
     float get_pilot_desired_climb_rate(float throttle_control);
     float get_non_takeoff_throttle();
-    float get_takeoff_trigger_throttle();
     float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt);
     void auto_takeoff_set_start_alt(void);
     void auto_takeoff_attitude_run(float target_yaw_rate);
diff --git a/ArduCopter/arming_checks.cpp b/ArduCopter/arming_checks.cpp
index f981064719..7b3aec91ce 100644
--- a/ArduCopter/arming_checks.cpp
+++ b/ArduCopter/arming_checks.cpp
@@ -719,7 +719,7 @@ bool Copter::arm_checks(bool display_failure, bool arming_from_gcs)
         // check throttle is not too high - skips checks if arming from GCS in Guided
         if (!(arming_from_gcs && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) {
             // above top of deadband is too always high
-            if (channel_throttle->get_control_in() > get_takeoff_trigger_throttle()) {
+            if (get_pilot_desired_climb_rate(channel_throttle->get_control_in()) > 0.0f) {
                 if (display_failure) {
                     #if FRAME_CONFIG == HELI_FRAME
                     gcs_send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");
diff --git a/ArduCopter/control_poshold.cpp b/ArduCopter/control_poshold.cpp
index 8182e79252..12c009b2c7 100644
--- a/ArduCopter/control_poshold.cpp
+++ b/ArduCopter/control_poshold.cpp
@@ -165,7 +165,7 @@ void Copter::poshold_run()
         takeoff_get_climb_rates(target_climb_rate, takeoff_climb_rate);
 
         // check for take-off
-        if (ap.land_complete && (takeoff_state.running || channel_throttle->get_control_in() > get_takeoff_trigger_throttle())) {
+        if (ap.land_complete && (takeoff_state.running || target_climb_rate > 0.0f)) {
             if (!takeoff_state.running) {
                 takeoff_timer_start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
             }