Copter: Don't reset yaw rate when disarmed or ground idle in Heli Stab and Acro

ArduCopter/mode_acro.cpp

@@ -27,7 +27,7 @@ void ModeAcro::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->reset_target_and_rate();
+        attitude_control->reset_target_and_rate(true);
         attitude_control->reset_rate_controller_I_terms();
         break;
 

ArduCopter/mode_acro_heli.cpp

@@ -45,14 +45,14 @@ void ModeAcro_Heli::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->reset_target_and_rate();
+        attitude_control->reset_target_and_rate(false);
         attitude_control->reset_rate_controller_I_terms();
         break;
     case AP_Motors::SpoolState::GROUND_IDLE:
         // If aircraft is landed, set target heading to current and reset the integrator
         // Otherwise motors could be at ground idle for practice autorotation
         if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
-            attitude_control->reset_target_and_rate();
+            attitude_control->reset_target_and_rate(false);
             attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;

ArduCopter/mode_althold.cpp

@@ -50,7 +50,7 @@ void ModeAltHold::run()
 
     case AltHold_MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->reset_yaw_target_and_rate();
+        attitude_control->reset_yaw_target_and_rate(false);
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;
 

ArduCopter/mode_drift.cpp

@@ -91,7 +91,7 @@ void ModeDrift::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->reset_yaw_target_and_rate();
+        attitude_control->reset_yaw_target_and_rate(false);
         attitude_control->reset_rate_controller_I_terms();
         break;
 

ArduCopter/mode_poshold.cpp

@@ -102,7 +102,7 @@ void ModePosHold::run()
 
     case AltHold_MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->reset_yaw_target_and_rate();
+        attitude_control->reset_yaw_target_and_rate(false);
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         loiter_nav->clear_pilot_desired_acceleration();
         loiter_nav->init_target();

ArduCopter/mode_sport.cpp

@@ -76,7 +76,7 @@ void ModeSport::run()
 
     case AltHold_MotorStopped:
         attitude_control->reset_rate_controller_I_terms();
-        attitude_control->reset_yaw_target_and_rate();
+        attitude_control->reset_yaw_target_and_rate(false);
         pos_control->relax_z_controller(0.0f);   // forces throttle output to decay to zero
         break;
 

ArduCopter/mode_stabilize_heli.cpp

@@ -50,14 +50,14 @@ void ModeStabilize_Heli::run()
     switch (motors->get_spool_state()) {
     case AP_Motors::SpoolState::SHUT_DOWN:
         // Motors Stopped
-        attitude_control->reset_yaw_target_and_rate();
+        attitude_control->reset_yaw_target_and_rate(false);
         attitude_control->reset_rate_controller_I_terms();
         break;
     case AP_Motors::SpoolState::GROUND_IDLE:
         // If aircraft is landed, set target heading to current and reset the integrator
         // Otherwise motors could be at ground idle for practice autorotation
         if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
-            attitude_control->reset_yaw_target_and_rate();
+            attitude_control->reset_yaw_target_and_rate(false);
             attitude_control->reset_rate_controller_I_terms_smoothly();
         }
         break;