diff --git a/ArduCopter/control_auto.cpp b/ArduCopter/control_auto.cpp
index 7dd6d57c30..0ad251519f 100644
--- a/ArduCopter/control_auto.cpp
+++ b/ArduCopter/control_auto.cpp
@@ -25,6 +25,12 @@ bool Copter::auto_init(bool ignore_checks)
     if ((position_ok() && mission.num_commands() > 1) || ignore_checks) {
         auto_mode = Auto_Loiter;
 
+        // reject switching to auto mode if landed with motors armed but first command is not a takeoff (reduce change of flips)
+        if (motors.armed() && ap.land_complete && !mission.starts_with_takeoff_cmd()) {
+            gcs_send_text(MAV_SEVERITY_CRITICAL, "Auto: Missing Takeoff Cmd");
+            return false;
+        }
+
         // stop ROI from carrying over from previous runs of the mission
         // To-Do: reset the yaw as part of auto_wp_start when the previous command was not a wp command to remove the need for this special ROI check
         if (auto_yaw_mode == AUTO_YAW_ROI) {
@@ -37,10 +43,6 @@ bool Copter::auto_init(bool ignore_checks)
         // clear guided limits
         guided_limit_clear();
 
-        // Deny switching to auto mode if land is completed and motors are armed but the next command in the mission is lateral flying
-        if (motors.armed() && ap.land_complete && !mission.check_takeoff_cmd()) {
-            return false;
-        }
         // start/resume the mission (based on MIS_RESTART parameter)
         mission.start_or_resume();
         return true;