This paper presents enhancements for optimal endo-and exo-atmospheric ascent guidance. For 3-dimensional endo-atmospheric ascent, based on analysis of the necessary conditions for the optimal solution, the costate equations are formulated differently as compared to previous work. This change considerably simplifies the vector costate equations, and more importantly, helps avoid a potential numerical difficulty the previous formulation can encounter when the angle of attack is zero. For optimal exo-atmospheric ascent problems with multi-burn and -coast arcs, multiple-shooting methods have proven to be effective. But a main difficulty has been the generation of initial guesses for the burn times, coast times and the state and costate at the beginnings and ends of all the burn and coast arcs. In this paper an algorithm is developed to automate the solution process for such a problem with arbitrary given number of multi-burn and coast arcs, without the need for user-supplied initial guesses. These developments are demonstrated with numerical experiments.