diff --git a/flight/modules/ManualControl/armhandler.c b/flight/modules/ManualControl/armhandler.c
index 58fffaf27..6a16ca607 100644
--- a/flight/modules/ManualControl/armhandler.c
+++ b/flight/modules/ManualControl/armhandler.c
@@ -317,6 +317,7 @@ static bool okToArm(void)
         return false;
 
     case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
+    case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER:
         return true;
 
     default:
diff --git a/flight/modules/PathPlanner/pathplanner.c b/flight/modules/PathPlanner/pathplanner.c
index 8c0428556..1597dace6 100644
--- a/flight/modules/PathPlanner/pathplanner.c
+++ b/flight/modules/PathPlanner/pathplanner.c
@@ -262,7 +262,7 @@ static void pathPlannerTask()
     }
 
     // check start conditions
-    // autotakeoff requires midpoint thrust uf we are in a pending takeoff situation
+    // autotakeoff requires midpoint thrust if we are in a pending takeoff situation
     if (pathAction.Command == PATHACTION_MODE_AUTOTAKEOFF) {
         pathAction.EndCondition = PATHACTION_ENDCONDITION_LEGREMAINING;
         if ((uint8_t)pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE] == STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE) {