diff --git a/ArduPlane/commands.cpp b/ArduPlane/commands.cpp
index 7d0f089bc2..d8f97342f4 100644
--- a/ArduPlane/commands.cpp
+++ b/ArduPlane/commands.cpp
@@ -51,7 +51,6 @@ void Plane::set_next_WP(const struct Location &loc)
     // location as the previous waypoint, to prevent immediately
     // considering the waypoint complete
     if (current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) {
-        gcs().send_text(MAV_SEVERITY_NOTICE, "Resetting previous waypoint");
         prev_WP_loc = current_loc;
     }
 
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 206cbcdb68..d4af5ca78f 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2823,9 +2823,10 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
 
     const uint32_t now = millis();
 
-    // reset takeoff start time if we aren't armed, as we won't have made any progress
+    // reset takeoff if we aren't armed
     if (!hal.util->get_soft_armed()) {
-        takeoff_start_time_ms = now;
+        do_vtol_takeoff(cmd);
+        return false;
     }
 
     if (now - takeoff_start_time_ms < 3000 &&