diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
index 1dd60ba43a..5ff6f88b42 100644
--- a/ArduPlane/AP_Arming.cpp
+++ b/ArduPlane/AP_Arming.cpp
@@ -179,6 +179,16 @@ bool AP_Arming_Plane::quadplane_checks(bool display_failure)
         }
     }
 
+    if ((plane.control_mode == &plane.mode_auto) && !plane.mission.starts_with_takeoff_cmd()) {
+        check_failed(display_failure,"missing takeoff waypoint");
+        ret = false;
+    }
+
+    if (plane.control_mode == &plane.mode_rtl) {
+        check_failed(display_failure,"in RTL mode");
+        ret = false;
+    }
+    
     /*
       Q_ASSIST_SPEED really should be enabled for all quadplanes except tailsitters
      */
diff --git a/ArduPlane/mode_auto.cpp b/ArduPlane/mode_auto.cpp
index 9b6332b059..436abdd08e 100644
--- a/ArduPlane/mode_auto.cpp
+++ b/ArduPlane/mode_auto.cpp
@@ -4,6 +4,16 @@
 bool ModeAuto::_enter()
 {
 #if HAL_QUADPLANE_ENABLED
+    // check if we should refuse auto mode due to a missing takeoff in
+    // guided_wait_takeoff state
+    if (plane.previous_mode == &plane.mode_guided &&
+        quadplane.guided_wait_takeoff_on_mode_enter) {
+        if (!plane.mission.starts_with_takeoff_cmd()) {
+            gcs().send_text(MAV_SEVERITY_ERROR,"Takeoff waypoint required");
+            return false;
+        }
+    }
+    
     if (plane.quadplane.available() && plane.quadplane.enable == 2) {
         plane.auto_state.vtol_mode = true;
     } else {
diff --git a/ArduPlane/mode_qrtl.cpp b/ArduPlane/mode_qrtl.cpp
index 9ddbd45851..1c59174461 100644
--- a/ArduPlane/mode_qrtl.cpp
+++ b/ArduPlane/mode_qrtl.cpp
@@ -5,6 +5,13 @@
 
 bool ModeQRTL::_enter()
 {
+    // treat QRTL as QLAND if we are in guided wait takeoff state, to cope
+    // with failsafes during GUIDED->AUTO takeoff sequence
+    if (plane.quadplane.guided_wait_takeoff_on_mode_enter) {
+       plane.set_mode(plane.mode_qland, ModeReason::QLAND_INSTEAD_OF_RTL);
+       return true;
+    }
+
     // use do_RTL() to setup next_WP_loc
     plane.do_RTL(plane.home.alt + quadplane.qrtl_alt*100UL);
     plane.prev_WP_loc = plane.current_loc;
diff --git a/ArduPlane/mode_rtl.cpp b/ArduPlane/mode_rtl.cpp
index 7c59ac1f99..a24ea10b65 100644
--- a/ArduPlane/mode_rtl.cpp
+++ b/ArduPlane/mode_rtl.cpp
@@ -8,10 +8,15 @@ bool ModeRTL::_enter()
     plane.rtl.done_climb = false;
 #if HAL_QUADPLANE_ENABLED
     plane.vtol_approach_s.approach_stage = Plane::Landing_ApproachStage::RTL;
-#endif
+
+    // treat RTL as QLAND if we are in guided wait takeoff state, to cope
+    // with failsafes during GUIDED->AUTO takeoff sequence
+    if (plane.quadplane.guided_wait_takeoff_on_mode_enter) {
+       plane.set_mode(plane.mode_qland, ModeReason::QLAND_INSTEAD_OF_RTL);
+       return true;
+    }
 
     // do not check if we have reached the loiter target if switching from loiter this will trigger as the nav controller has not yet proceeded the new destination
-#if HAL_QUADPLANE_ENABLED
     switch_QRTL(false);
 #endif
 
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 61e221731c..8288469939 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1266,6 +1266,10 @@ void QuadPlane::set_armed(bool armed)
         return;
     }
     motors->armed(armed);
+
+    if (plane.control_mode == &plane.mode_guided) {
+        guided_wait_takeoff = armed;
+    }
 }
 
 
@@ -1793,6 +1797,10 @@ void QuadPlane::update_throttle_suppression(void)
         return;
     }
 
+    if (guided_wait_takeoff) {
+        goto idle_state;
+    }
+
     /* if the users throttle is above zero then allow motors to run
 
        if the user has unset the "check throttle zero when arming"
@@ -1832,7 +1840,8 @@ void QuadPlane::update_throttle_suppression(void)
     if (plane.control_mode == &plane.mode_auto && is_vtol_takeoff(plane.mission.get_current_nav_cmd().id)) {
         return;
     }
-    
+
+idle_state:
     // motors should be in the spin when armed state to warn user they could become active
     set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
     motors->set_throttle(0);
@@ -3506,6 +3515,7 @@ bool QuadPlane::do_user_takeoff(float takeoff_altitude)
     set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
     guided_start();
     guided_takeoff = true;
+    guided_wait_takeoff = false;
     if ((options & OPTION_DISABLE_GROUND_EFFECT_COMP) == 0) {
         ahrs.set_takeoff_expected(true);
     }
@@ -4082,6 +4092,11 @@ void QuadPlane::mode_enter(void)
     poscontrol.xy_correction.zero();
     poscontrol.velocity_match.zero();
     poscontrol.last_velocity_match_ms = 0;
+
+    // clear guided takeoff wait on any mode change, but remember the
+    // state for special behaviour
+    guided_wait_takeoff_on_mode_enter = guided_wait_takeoff;
+    guided_wait_takeoff = false;
 }
 
 #endif  // HAL_QUADPLANE_ENABLED
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 64182b897e..ef47aa1ca3 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -403,6 +403,30 @@ private:
     // are we in a guided takeoff?
     bool guided_takeoff:1;
 
+    /* if we arm in guided mode when we arm then go into a "waiting
+       for takeoff command" state. In this state we are waiting for
+       one of the following:
+
+       1) disarm
+       2) guided takeoff command
+       3) change to AUTO with a takeoff waypoint as first nav waypoint
+       4) change to another mode
+
+       while in this state we don't go to throttle unlimited, and will
+       refuse a change to AUTO mode if the first waypoint is not a
+       takeoff. If we try to switch to RTL then we will instead use
+       QLAND
+
+       This state is needed to cope with the takeoff sequence used
+       by QGC on common controllers such as the MX16, which do this on a "takeoff" swipe:
+
+          - changes mode to GUIDED
+          - arms
+          - changes mode to AUTO
+    */
+    bool guided_wait_takeoff;
+    bool guided_wait_takeoff_on_mode_enter;
+
     struct {
         // time when motors reached lower limit
         uint32_t lower_limit_start_ms;