AP_L1_Control: fixed uTurn-wobble

When performing a u-turn in AUTO (waypoints are 180deg turn from each other) sometimes the aircraft can't decide to turn left or right and wobbled back and forth a couple times. There was existing code to solve this but it was not executing all the time like when in LOITER mode. Frankly, I don't understand the criteria that was required to make it execute and i suspect there is still a gremlin in that logic but just executing the check all the time makes prevents the wobble behavior.

libraries/AP_L1_Control/AP_L1_Control.cpp

@@ -193,9 +193,6 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
 		xtrackVel = _groundspeed_vector % (-A_air_unit); // Velocity across line
 		ltrackVel = _groundspeed_vector * (-A_air_unit); // Velocity along line
 		Nu = atan2f(xtrackVel,ltrackVel);
-
-        _prevent_indecision(Nu);
-
 		_nav_bearing = atan2f(-A_air_unit.y , -A_air_unit.x); // bearing (radians) from AC to L1 point
 
 	} else { //Calc Nu to fly along AB line
@@ -214,6 +211,7 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
 		_nav_bearing = atan2f(AB.y, AB.x) + Nu1; // bearing (radians) from AC to L1 point		
 	}	
 
+    _prevent_indecision(Nu);
     _last_Nu = Nu;
 			
 	//Limit Nu to +-pi