Copter: Dissable yaw slew in loiter

ArduCopter/mode_loiter.cpp

@@ -128,7 +128,7 @@ void ModeLoiter::run()
         attitude_control->reset_yaw_target_and_rate();
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         loiter_nav->init_target();
-        attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate);
+        attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
         break;
 
     case AltHold_Takeoff:
@@ -147,7 +147,7 @@ void ModeLoiter::run()
         loiter_nav->update();
 
         // call attitude controller
-        attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate);
+        attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
         break;
 
     case AltHold_Landed_Ground_Idle:
@@ -157,7 +157,7 @@ void ModeLoiter::run()
     case AltHold_Landed_Pre_Takeoff:
         attitude_control->reset_rate_controller_I_terms_smoothly();
         loiter_nav->init_target();
-        attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate);
+        attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;
 
@@ -186,7 +186,7 @@ void ModeLoiter::run()
 #endif
 
         // call attitude controller
-        attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate);
+        attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate, false);
 
         // get avoidance adjusted climb rate
         target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);