From 9ac892aceac0fba95400cef9b0bb115e9ff94073 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 22 May 2015 22:19:48 +0900
Subject: [PATCH] Copter: fix MISSION_START support

Vehicle must already be armed
Set auto-armed to true to allow take-off without pilot raising throttle
---
 ArduCopter/GCS_Mavlink.pde | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 1b76648223..2513f19f99 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1149,7 +1149,8 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
 
         case MAV_CMD_MISSION_START:
-            if (set_mode(AUTO)) {
+            if (motors.armed() && set_mode(AUTO)) {
+                set_auto_armed(true);
                 result = MAV_RESULT_ACCEPTED;
             }
             break;