Copter: have takeoff.start() handle clearing i terms and setting land-complete

ArduCopter/mode_althold.cpp

@@ -70,10 +70,6 @@ void Copter::ModeAltHold::run()
         // initiate take-off
         if (!takeoff.running()) {
             takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
-            // indicate we are taking off
-            set_land_complete(false);
-            // clear i terms
-            set_throttle_takeoff();
         }
 
         // get take-off adjusted pilot and takeoff climb rates

ArduCopter/mode_flowhold.cpp

@@ -269,10 +269,6 @@ void Copter::ModeFlowHold::run()
         // initiate take-off
         if (!takeoff.running()) {
             takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
-            // indicate we are taking off
-            copter.set_land_complete(false);
-            // clear i terms
-            copter.set_throttle_takeoff();
         }
 
         // get take-off adjusted pilot and takeoff climb rates

ArduCopter/mode_loiter.cpp

@@ -131,10 +131,6 @@ void Copter::ModeLoiter::run()
         // initiate take-off
         if (!takeoff.running()) {
             takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
-            // indicate we are taking off
-            set_land_complete(false);
-            // clear i term when we're taking off
-            set_throttle_takeoff();
         }
 
         // get takeoff adjusted pilot and takeoff climb rates

ArduCopter/mode_poshold.cpp

@@ -124,10 +124,6 @@ void Copter::ModePosHold::run()
         // initiate take-off
         if (!takeoff.running()) {
             takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
-            // indicate we are taking off
-            set_land_complete(false);
-            // clear i terms
-            set_throttle_takeoff();
         }
 
         // get take-off adjusted pilot and takeoff climb rates

ArduCopter/mode_sport.cpp

@@ -90,10 +90,6 @@ void Copter::ModeSport::run()
         // initiate take-off
         if (!takeoff.running()) {
             takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
-            // indicate we are taking off
-            set_land_complete(false);
-            // clear i terms
-            set_throttle_takeoff();
         }
 
         // get take-off adjusted pilot and takeoff climb rates

ArduCopter/takeoff.cpp

@@ -48,11 +48,16 @@ bool Copter::Mode::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
 // start takeoff to specified altitude above home in centimeters
 void Copter::Mode::_TakeOff::start(float alt_cm)
 {
+    // indicate we are taking off
+    copter.set_land_complete(false);
+    // tell position controller to reset alt target and reset I terms
+    copter.set_throttle_takeoff();
+
     // calculate climb rate
     const float speed = MIN(copter.wp_nav->get_default_speed_up(), MAX(copter.g.pilot_speed_up*2.0f/3.0f, copter.g.pilot_speed_up-50.0f));
 
     // sanity check speed and target
-    if (running() || speed <= 0.0f || alt_cm <= 0.0f) {
+    if (speed <= 0.0f || alt_cm <= 0.0f) {
         return;
     }