From 658298ed1d6eb186310c78b8aa65c29027f1aff2 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 19 Aug 2022 16:52:05 +0900
Subject: [PATCH] Copter: auto takeoff may trigger terrain failsafe

---
 ArduCopter/takeoff.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/takeoff.cpp b/ArduCopter/takeoff.cpp
index 136ff31ef6..c8fdacd0b0 100644
--- a/ArduCopter/takeoff.cpp
+++ b/ArduCopter/takeoff.cpp
@@ -112,7 +112,8 @@ void Mode::auto_takeoff_run()
     // get terrain offset
     float terr_offset = 0.0f;
     if (auto_takeoff_terrain_alt && !wp_nav->get_terrain_offset(terr_offset)) {
-        gcs().send_text(MAV_SEVERITY_CRITICAL, "auto takeoff: failed to get terrain offset");
+        // trigger terrain failsafe
+        copter.failsafe_terrain_on_event();
         return;
     }