WP_YAW_BEHAVIOR versus Loiter mission entries

Copter does not point to the new location for a Loiter mission entry.

Running Copter 3.0.1 and MP 1.2.66. I have a mission with these entries

1 Waypoint

2 Loiter - Time

3 Waypoint

4 RTL

The Loiter-Time entry has a new location from WP1 and WP3 has a different location from Loiter Time

I have WP_YAW_BEHAVIOR set to 2.

I expected to see the copter point toward entry 2 - the location of the Loiter - Time entry as is moved from WP1 but it did not.

Is this as designed (Loiter - Time not treated as a "Way Point" so WP_YAW_BEHAVIOR is not used) or did this get missed in the 3.0.1 version?

Thanks

Discussions