From daa0cb79147050e8931b8fd941ec80d4713f09fe Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 13 Sep 2013 14:31:55 +0900
Subject: [PATCH] Copter: enable motor slow start in auto mode

---
 ArduCopter/ArduCopter.pde | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 93c3689fd6..00eb304df2 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -2051,6 +2051,11 @@ void update_throttle_mode(void)
     case THROTTLE_AUTO:
         // auto pilot altitude controller with target altitude held in wp_nav.get_desired_alt()
         if(ap.auto_armed) {
+            // special handling if we are just taking off
+            if (ap.land_complete) {
+                // tell motors to do a slow start.
+                motors.slow_start(true);
+            }
             get_throttle_althold_with_slew(wp_nav.get_desired_alt(), -wp_nav.get_descent_velocity(), wp_nav.get_climb_velocity());
             set_target_alt_for_reporting(wp_nav.get_desired_alt()); // To-Do: return get_destination_alt if we are flying to a waypoint
         }else{