diff --git a/ArduPlane/takeoff.cpp b/ArduPlane/takeoff.cpp
index 10ccdac594..bb1b939083 100644
--- a/ArduPlane/takeoff.cpp
+++ b/ArduPlane/takeoff.cpp
@@ -18,6 +18,7 @@ bool Plane::auto_takeoff_check(void)
     // reset all takeoff state if disarmed
     if (!hal.util->get_soft_armed()) {
         memset(&takeoff_state, 0, sizeof(takeoff_state));
+        auto_state.baro_takeoff_alt = barometer.get_altitude();
         return false;
     }