How to Only Key the Attribute that Changed

I have a bone called Foot. Foot’s location and rotation are added to a keying set called KSet. I have auto-key enabled, and KSet is set to the active keying set. When I move Foot, but don’t rotate, I still get rotation keyframes added. Is it possible to only add a keyframe to the attributes that actually changed?

User Preferences / Editing - ‘Only Insert Needed’

Thank you, sir.