From f2b952eda011d994fd5ecc339c113467477e9079 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir.emn@gmail.com>
Date: Tue, 12 Oct 2021 11:58:44 +0200
Subject: [PATCH] Copter: fix takeoff end report on EXTEND_STATE

regression from https://github.com/ArduPilot/ardupilot/pull/18700.
thanks to @arduouspilot on discuss to notice this, see https://discuss.ardupilot.org/t/extended-sys-state-never-changes-once-guided-takeoff-is-started/76996/3
---
 ArduCopter/mode_guided.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 801c347a0f..a1950e3141 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -270,7 +270,7 @@ void ModeGuided::posvelaccel_control_start()
 
 bool ModeGuided::is_taking_off() const
 {
-    return guided_mode == SubMode::TakeOff;
+    return guided_mode == SubMode::TakeOff && !takeoff_complete;
 }
 
 // initialise guided mode's angle controller