diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 321b8b9b54..5a16ada4db 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -25,8 +25,6 @@ Mode::Mode(void) :
     G_Dt(copter.G_Dt)
 { };
 
-float Mode::auto_takeoff_no_nav_alt_cm = 0;
-
 // return the static controller object corresponding to supplied mode
 Mode *Copter::mode_from_mode_num(const Mode::Number mode)
 {
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index 1b5fc8a0c7..25313eb7dd 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -375,42 +375,6 @@ void ModeGuided::takeoff_run()
     }
 }
 
-void Mode::auto_takeoff_run()
-{
-    // if not armed set throttle to zero and exit immediately
-    if (!motors->armed() || !copter.ap.auto_armed) {
-        make_safe_spool_down();
-        wp_nav->shift_wp_origin_to_current_pos();
-        return;
-    }
-
-    // process pilot's yaw input
-    float target_yaw_rate = 0;
-    if (!copter.failsafe.radio) {
-        // get pilot's desired yaw rate
-        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
-    }
-
-    // aircraft stays in landed state until rotor speed runup has finished
-    if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
-        set_land_complete(false);
-    } else {
-        wp_nav->shift_wp_origin_to_current_pos();
-    }
-
-    // set motors to full range
-    motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
-
-    // run waypoint controller
-    copter.failsafe_terrain_set_status(wp_nav->update_wpnav());
-
-    // call z-axis position controller (wpnav should have already updated it's alt target)
-    copter.pos_control->update_z_controller();
-
-    // call attitude controller
-    auto_takeoff_attitude_run(target_yaw_rate);
-}
-
 // guided_pos_control_run - runs the guided position controller
 // called from guided_run
 void ModeGuided::pos_control_run()
diff --git a/ArduCopter/takeoff.cpp b/ArduCopter/takeoff.cpp
index 69c5994378..700fece85a 100644
--- a/ArduCopter/takeoff.cpp
+++ b/ArduCopter/takeoff.cpp
@@ -2,6 +2,8 @@
 
 Mode::_TakeOff Mode::takeoff;
 
+float Mode::auto_takeoff_no_nav_alt_cm = 0;
+
 // This file contains the high-level takeoff logic for Loiter, PosHold, AltHold, Sport modes.
 //   The take-off can be initiated from a GCS NAV_TAKEOFF command which includes a takeoff altitude
 //   A safe takeoff speed is calculated and used to calculate a time_ms
@@ -138,6 +140,42 @@ void Mode::_TakeOff::get_climb_rates(float& pilot_climb_rate,
     }
 }
 
+void Mode::auto_takeoff_run()
+{
+    // if not armed set throttle to zero and exit immediately
+    if (!motors->armed() || !copter.ap.auto_armed) {
+        make_safe_spool_down();
+        wp_nav->shift_wp_origin_to_current_pos();
+        return;
+    }
+
+    // process pilot's yaw input
+    float target_yaw_rate = 0;
+    if (!copter.failsafe.radio) {
+        // get pilot's desired yaw rate
+        target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
+    }
+
+    // aircraft stays in landed state until rotor speed runup has finished
+    if (motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) {
+        set_land_complete(false);
+    } else {
+        wp_nav->shift_wp_origin_to_current_pos();
+    }
+
+    // set motors to full range
+    motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
+
+    // run waypoint controller
+    copter.failsafe_terrain_set_status(wp_nav->update_wpnav());
+
+    // call z-axis position controller (wpnav should have already updated it's alt target)
+    copter.pos_control->update_z_controller();
+
+    // call attitude controller
+    auto_takeoff_attitude_run(target_yaw_rate);
+}
+
 void Mode::auto_takeoff_set_start_alt(void)
 {
     // start with our current altitude