diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 62d6bf25e2..4ec84aab16 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -244,6 +244,10 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
         }
         break;
 #endif
+
+    default:
+        // unable to use the command, allow the vehicle to try the next command
+        return false;
     }
 
     return true;
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index fa25555c28..aed66d1c73 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -327,8 +327,8 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
 
     // @Param: OPTIONS
     // @DisplayName: quadplane options
-    // @Description: This provides a set of additional control options for quadplanes. LevelTransition means that the wings should be held level to within LEVEL_ROLL_LIMIT degrees during transition to fixed wing flight. If AllowFWTakeoff bit is not set then fixed wing takeoff on quadplanes will instead perform a VTOL takeoff. If AllowFWLand bit is not set then fixed wing land on quadplanes will instead perform a VTOL land.
-    // @Bitmask: 0:LevelTransition,1:AllowFWTakeoff,2:AllowFWLand
+    // @Description: This provides a set of additional control options for quadplanes. LevelTransition means that the wings should be held level to within LEVEL_ROLL_LIMIT degrees during transition to fixed wing flight. If AllowFWTakeoff bit is not set then fixed wing takeoff on quadplanes will instead perform a VTOL takeoff. If AllowFWLand bit is not set then fixed wing land on quadplanes will instead perform a VTOL land. If respect takeoff frame is not set the vehicle will interpret all takeoff waypoints as an altitude above the corrent position.
+    // @Bitmask: 0:LevelTransition,1:AllowFWTakeoff,2:AllowFWLand,3:Respect takeoff frame types
     AP_GROUPINFO("OPTIONS", 58, QuadPlane, options, 0),
 
     AP_SUBGROUPEXTENSION("",59, QuadPlane, var_info2),
@@ -2096,7 +2096,14 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
     }
 
     plane.set_next_WP(cmd.content.location);
-    plane.next_WP_loc.alt = plane.current_loc.alt + cmd.content.location.alt;
+    if (options & OPTION_RESPECT_TAKEOFF_FRAME) {
+        if (plane.current_loc.alt >= plane.next_WP_loc.alt) {
+            // we are above the takeoff already, no need to do anything
+            return false;
+        }
+    } else {
+        plane.next_WP_loc.alt = plane.current_loc.alt + cmd.content.location.alt;
+    }
     throttle_wait = false;
 
     // set target to current position
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 5b49f5a05d..6cdd127eff 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -450,6 +450,7 @@ private:
         OPTION_LEVEL_TRANSITION=(1<<0),
         OPTION_ALLOW_FW_TAKEOFF=(1<<1),
         OPTION_ALLOW_FW_LAND=(1<<2),
+        OPTION_RESPECT_TAKEOFF_FRAME=(1<<3),
     };
 
     /*