diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
index 270fb99d48094bc8d096dd74c32e0cc2f29cab11..8860e98c0e34b11593ad84aa959ac4cb5c86159d 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.cc
@@ -133,8 +133,6 @@ void ArduCopterFirmwarePlugin::guidedModeLand(Vehicle* vehicle)
     vehicle->setFlightMode("Land");
 }
 
-#if 0
-// WIP
 void ArduCopterFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle)
 {
     if (!_armVehicle(vehicle)) {
@@ -148,7 +146,6 @@ void ArduCopterFirmwarePlugin::guidedModeTakeoff(Vehicle* vehicle)
                             0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
                             2.5);
 }
-#endif
 
 void ArduCopterFirmwarePlugin::guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord)
 {
diff --git a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
index 8b771c110dcb7d0191f0fca406e3273179ad1da1..2d5414db0e99f344a7a3ce374156a1a9073b2215 100644
--- a/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
+++ b/src/FirmwarePlugin/APM/ArduCopterFirmwarePlugin.h
@@ -58,10 +58,7 @@ public:
     void pauseVehicle(Vehicle* vehicle) final;
     void guidedModeRTL(Vehicle* vehicle) final;
     void guidedModeLand(Vehicle* vehicle) final;
-#if 0
-    // WIP
     void guidedModeTakeoff(Vehicle* vehicle) final;
-#endif
     void guidedModeGotoLocation(Vehicle* vehicle, const QGeoCoordinate& gotoCoord) final;
     void guidedModeChangeAltitude(Vehicle* vehicle, double altitudeChange) final;
     const FirmwarePlugin::remapParamNameMajorVersionMap_t& paramNameRemapMajorVersionMap(void) const final { return _remapParamName; }