diff --git a/mavctl/messages/navigator.py b/mavctl/messages/navigator.py
index 9fbc34a..2efded2 100644
--- a/mavctl/messages/navigator.py
+++ b/mavctl/messages/navigator.py
@@ -44,6 +44,15 @@ def wait_vehicle_armed(self):
         self.master.motors_armed_wait()
         print("Armed!")
 
+    def wait_for_mode_and_arm(self, mode="GUIDED", timeout=None) -> bool:
+        """Wait for the vehicle to enter ``mode`` and to be armed"""
+        mode_ready = self.set_mode_wait(mode=mode, timeout=timeout)
+        if not mode_ready:
+            return False
+        while not self.wait_vehicle_armed():
+            return True
+        pass
+
     def disarm(self):
         """
         Disarms the drone.
@@ -444,4 +453,3 @@ def wait_target_reached_global(self, target, timeout = 30):
                 return False
         
         return True
-
diff --git a/mavctl/tests/flight_tests/air.py b/mavctl/tests/flight_tests/air.py
index 31cb72b..82a0b59 100644
--- a/mavctl/tests/flight_tests/air.py
+++ b/mavctl/tests/flight_tests/air.py
@@ -10,10 +10,7 @@
 mav = conn.connect()
 master = Navigator(mav)
 
-while master.wait_vehicle_armed():
-    pass
-    
-while not master.set_mode_wait():
+while not master.wait_for_mode_and_arm():
     pass
 
 print("moving")
diff --git a/mavctl/tests/flight_tests/auto.py b/mavctl/tests/flight_tests/auto.py
index 6660f4d..cb8b2c6 100644
--- a/mavctl/tests/flight_tests/auto.py
+++ b/mavctl/tests/flight_tests/auto.py
@@ -11,10 +11,6 @@
 master = Navigator(mav)
 master.send_status_message("MAVCTL: Online")
 
-while master.wait_vehicle_armed():
+while not master.wait_for_mode_and_arm():
     pass
 
-while not master.set_mode_wait():
-    pass
-
-
diff --git a/mavctl/tests/flight_tests/first_flight.py b/mavctl/tests/flight_tests/first_flight.py
index 0da3ffe..3c697c5 100644
--- a/mavctl/tests/flight_tests/first_flight.py
+++ b/mavctl/tests/flight_tests/first_flight.py
@@ -1,7 +1,6 @@
 from mavctl.connect.conn import Connect
 from pymavlink import mavutil
 from mavctl.messages.navigator import Navigator
-from mavctl.messages.messenger import Messenger
 from mavctl.messages import advanced
 import time
 
@@ -10,10 +9,7 @@
 connect = Connect(ip = CONN_STR)
 drone = Navigator(connect.master)
 
-while drone.wait_vehicle_armed():
-    pass
-
-while not drone.set_mode_wait():
+while not drone.wait_for_mode_and_arm():
     pass
 
 drone.takeoff(10)
diff --git a/mavctl/tests/flight_tests/plane.py b/mavctl/tests/flight_tests/plane.py
index 7ed6a93..a90fd11 100644
--- a/mavctl/tests/flight_tests/plane.py
+++ b/mavctl/tests/flight_tests/plane.py
@@ -6,12 +6,7 @@
 
 mav = conn.connect()
 master = Navigator(mav)
-
-
-while master.wait_vehicle_armed():
-    pass
-    
-while not master.set_mode_wait():
+while not master.wait_for_mode_and_arm():
     pass
 
 print("moving")
diff --git a/mavctl/tests/flight_tests/quad.py b/mavctl/tests/flight_tests/quad.py
index 85349e5..d62df93 100644
--- a/mavctl/tests/flight_tests/quad.py
+++ b/mavctl/tests/flight_tests/quad.py
@@ -6,12 +6,7 @@
 
 mav = conn.connect()
 master = Navigator(mav)
-
-
-while master.wait_vehicle_armed():
-    pass
-    
-while not master.set_mode_wait():
+while not master.wait_for_mode_and_arm():
     pass
 
 master.takeoff(10)
diff --git a/mavctl/tests/flight_tests/swarm/copter1.py b/mavctl/tests/flight_tests/swarm/copter1.py
index ca989de..a88ce5d 100644
--- a/mavctl/tests/flight_tests/swarm/copter1.py
+++ b/mavctl/tests/flight_tests/swarm/copter1.py
@@ -17,17 +17,11 @@
 master2 = Navigator(mav2)
 
 
-while master1.wait_vehicle_armed():
+while not master1.wait_for_mode_and_arm():
     pass
 
-while not master1.set_mode_wait():
-    pass
-
-
-while master2.wait_vehicle_armed():
-    pass
 
-while not master2.set_mode_wait():
+while not master2.wait_for_mode_and_arm():
     pass
 
 
diff --git a/mavctl/tests/flight_tests/swarm/copter2.py b/mavctl/tests/flight_tests/swarm/copter2.py
index 1933777..5300dfb 100644
--- a/mavctl/tests/flight_tests/swarm/copter2.py
+++ b/mavctl/tests/flight_tests/swarm/copter2.py
@@ -11,10 +11,7 @@
 master = Navigator(mav)
 master.send_status_message("MAVCTL: Online")
 
-while master.wait_vehicle_armed():
-    pass
-
-while not master.set_mode_wait():
+while not master.wait_for_mode_and_arm():
     pass
 
 master.takeoff(10)
diff --git a/mavctl/tests/flight_tests/waypoint.py b/mavctl/tests/flight_tests/waypoint.py
index dcfd739..cf615b0 100644
--- a/mavctl/tests/flight_tests/waypoint.py
+++ b/mavctl/tests/flight_tests/waypoint.py
@@ -7,7 +7,7 @@
 mav = conn.connect()
 master = Navigator(mav)
 
-while master.set_mode_wait() and master.wait_vehicle_armed():
+while not master.wait_for_mode_and_arm():
     pass
 
 master.takeoff(10)