bug in update_throttle_hover()

in update_throttle_hover() function:when I'm in loiter and leave all stick in mid ,I found  I can not learn thr hover,I found the reason is 

if (!is_zero(pos_control->get_desired_velocity().z))
{
      return;
}

pos_control->get_desired_velocity().z: _

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Double GPS Antenna foy yaw and RTK

       Rencently I use a Chinese GPS board it has two Antennas,so it can out put for yaw data,since use we usually use compass for yaw I want use the GPS output heading instead of it,my method is change here library/AP_AHRS/AP_AHRS_NavEKF.cpp,update_

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