Plane: quad plane uses rate-control control during transitions

ArduPlane/quadplane.cpp

@@ -675,7 +675,7 @@ void QuadPlane::multicopter_attitude_rate_update(float yaw_rate_cds)
         // use the fixed wing desired rates
         float roll_rate = plane.rollController.get_pid_info().desired;
         float pitch_rate = plane.pitchController.get_pid_info().desired;
-        attitude_control->input_euler_rate_roll_pitch_yaw(roll_rate*100, pitch_rate*100, yaw_rate_cds);
+        attitude_control->input_rate_bf_roll_pitch_yaw_2(roll_rate*100.0f, pitch_rate*100.0f, yaw_rate_cds);
     }
 }