Copter: Fix rate input frame and clarify SET_ATTITUDE_TARGET #1129

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Job	Run time
build (navio, armhf)	19m 11s
build (navio2, armhf)	21m 31s
build (bbbmini, armhf)	29m 16s
build (bhat, armhf)	23m 28s
build (bebop, armhf)	23m 49s
build (erlebrain2, armhf)	23m 39s
build (pxfmini, armhf)	20m 41s
build (pxf, armhf)	23m 42s
build (navigator, armhf-musl)	8m 47s
build (linux, base)	27m 21s
	3h 41m 25s