Copter: guided mode angle controller sets auto-armed from run method

ArduCopter/mode_guided.cpp

@@ -339,11 +339,6 @@ void ModeGuided::set_angle(const Quaternion &q, float climb_rate_cms_or_thrust,
 
     guided_angle_state.update_time_ms = millis();
 
-    // interpret positive climb rate or thrust as triggering take-off
-    if (motors->armed() && !copter.ap.auto_armed && is_positive(climb_rate_cms_or_thrust)) {
-        copter.set_auto_armed(true);
-    }
-
     // log target
     copter.Log_Write_GuidedTarget(guided_mode,
                            Vector3f(guided_angle_state.roll_cd, guided_angle_state.pitch_cd, guided_angle_state.yaw_cd),
@@ -618,6 +613,11 @@ void ModeGuided::angle_control_run()
         guided_angle_state.use_thrust = false;
     }
 
+    // interpret positive climb rate or thrust as triggering take-off
+    if (motors->armed() && is_positive(guided_angle_state.use_thrust ? guided_angle_state.thrust : climb_rate_cms)) {
+        copter.set_auto_armed(true);
+    }
+
     // if not armed set throttle to zero and exit immediately
     if (!motors->armed() || !copter.ap.auto_armed || (copter.ap.land_complete && (guided_angle_state.climb_rate_cms <= 0.0f))) {
         make_safe_spool_down();