Copter: spool fixes for acro stabilize and throw

ArduCopter/mode_acro.cpp

@@ -26,11 +26,11 @@ void Copter::ModeAcro::run()
 
     if (motors->get_spool_mode() == AP_Motors::SHUT_DOWN) {
         // Motors Stopped
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->set_attitude_target_to_current_attitude();
         attitude_control->reset_rate_controller_I_terms();
     } else if (motors->get_spool_mode() == AP_Motors::GROUND_IDLE) {
         // Landed
-        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->set_attitude_target_to_current_attitude();
         attitude_control->reset_rate_controller_I_terms();
     } else if (motors->get_spool_mode() == AP_Motors::THROTTLE_UNLIMITED) {
         // clear landing flag above zero throttle

ArduCopter/mode_throw.cpp

@@ -34,7 +34,6 @@ void Copter::ModeThrow::run()
     Throw_PosHold - the copter is kept at a constant position and height
     */
 
-    // Don't enter THROW mode if interlock will prevent motors running
     if (!motors->armed()) {
         // state machine entry is always from a disarmed state
         stage = Throw_Disarmed;
@@ -116,6 +115,8 @@ void Copter::ModeThrow::run()
         }
 
         // demand zero throttle (motors will be stopped anyway) and continually reset the attitude controller
+        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_throttle_out(0,true,g.throttle_filt);
         break;
 
@@ -129,6 +130,8 @@ void Copter::ModeThrow::run()
         }
 
         // Hold throttle at zero during the throw and continually reset the attitude controller
+        attitude_control->set_yaw_target_to_current_heading();
+        attitude_control->reset_rate_controller_I_terms();
         attitude_control->set_throttle_out(0,true,g.throttle_filt);
 
         // Play the waiting for throw tone sequence to alert the user