A plane carrying Ethiopia's Prime Minister Abiy Ahmed has flown out of Asmara International Airport at the end of a historic two-day visit to Eritrea, Eritrean state TV has reported.

Live footage showed Mr Abiy being escorted to the plane by Eritrea's President Isaias Afewerki and several officials.

As he boarded the Ethiopia Airlines plane, Mr Abiy waved. The plane taxied and took off minutes later.

Ethiopia’s state-run ETV relayed live the broadcast by Eritrea's EriTV.

In talks, the two leaders announced that they will re-open embassies in each other’s capitals.

Landlocked Ethiopia will now start using Eritrea’s ports on the Red Sea to bring in imports.

Relations between Eritrea and Ethiopia have been strained since they fought a 1998-2000 border war in which at least 70,000 people died.

When he took office in April, Mr Abiy promised to mend ties with Eritrea.