AC_WPNav: correct Copter mode entry with low RC rate demand

libraries/AC_WPNav/AC_Circle.h

@@ -72,6 +72,12 @@ public:
     // May be lower than the configured maximum due to ramp constraints.
     float get_rate_current() const { return degrees(_angular_vel_rads); }
 
+    // Returns the commanded turn-rate target in degrees per second.
+    // This is the rate the controller ramps towards (set by the RATE
+    // parameter or set_rate_degs()), unlike the instantaneous ramped
+    // velocity returned by get_rate_current().
+    float get_rate_target_degs() const { return degrees(_rotation_rate_max_rads); }
+
     // Sets the target circle rate in degrees per second.
     // Positive values result in clockwise rotation; negative for counter-clockwise.
     void set_rate_degs(float rate_degs);