diff --git a/ArduCopter/control_auto.pde b/ArduCopter/control_auto.pde
index ae3f0a3c50..dc6315d3e9 100644
--- a/ArduCopter/control_auto.pde
+++ b/ArduCopter/control_auto.pde
@@ -157,7 +157,7 @@ static void auto_wp_run()
         attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
     }else{
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading());
+        attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
     }
 
     // refetch angle targets for reporting
@@ -267,7 +267,7 @@ void auto_circle_run()
     pos_control.update_z_controller();
 
     // roll & pitch from waypoint controller, yaw rate from pilot
-    attitude_control.angleef_rpy(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw());
+    attitude_control.angleef_rpy(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
 
     // refetch angle targets for reporting
     const Vector3f angle_target = attitude_control.angle_ef_targets();
diff --git a/ArduCopter/control_circle.pde b/ArduCopter/control_circle.pde
index 02bb0d8a25..9463ca2af0 100644
--- a/ArduCopter/control_circle.pde
+++ b/ArduCopter/control_circle.pde
@@ -58,7 +58,7 @@ static void circle_run()
     if (circle_pilot_yaw_override) {
         attitude_control.angleef_rp_rateef_y(circle_nav.get_roll(), circle_nav.get_pitch(), target_yaw_rate);
     }else{
-        attitude_control.angleef_rpy(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw());
+        attitude_control.angleef_rpy(circle_nav.get_roll(), circle_nav.get_pitch(), circle_nav.get_yaw(),true);
     }
 
     // run altitude controller
diff --git a/ArduCopter/control_flip.pde b/ArduCopter/control_flip.pde
index bb14b6ff01..b4cfe1d94a 100644
--- a/ArduCopter/control_flip.pde
+++ b/ArduCopter/control_flip.pde
@@ -143,7 +143,7 @@ static void flip_run()
 
     case Flip_Recover:
         // use originally captured earth-frame angle targets to recover
-        attitude_control.angleef_rpy(curr_ef_targets.x, curr_ef_targets.y, curr_ef_targets.z);
+        attitude_control.angleef_rpy(curr_ef_targets.x, curr_ef_targets.y, curr_ef_targets.z,false);
 
         // increase throttle to gain any lost alitude
         throttle_out += FLIP_THR_INC;
diff --git a/ArduCopter/control_guided.pde b/ArduCopter/control_guided.pde
index 9672c0cfae..064565b827 100644
--- a/ArduCopter/control_guided.pde
+++ b/ArduCopter/control_guided.pde
@@ -86,7 +86,7 @@ static void guided_run()
         attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
     }else{
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading());
+        attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
     }
 
     // re-fetch angle targets for reporting
diff --git a/ArduCopter/control_rtl.pde b/ArduCopter/control_rtl.pde
index 004b3ff14a..f68ea4664a 100644
--- a/ArduCopter/control_rtl.pde
+++ b/ArduCopter/control_rtl.pde
@@ -156,7 +156,7 @@ static void rtl_climb_return_descent_run()
         attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
     }else{
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading());
+        attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
     }
 
     // check if we've completed this stage of RTL
@@ -219,7 +219,7 @@ static void rtl_loiterathome_run()
         attitude_control.angleef_rp_rateef_y(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
     }else{
         // roll, pitch from waypoint controller, yaw heading from auto_heading()
-        attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading());
+        attitude_control.angleef_rpy(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
     }
 
     // check if we've completed this stage of RTL