diydrones/ardupilot — pull request #1466 by jschall (2014-10-10 10:18:20+00:00)
Title: AC_PosControl: Add 3hz filter to _accel_target.x, _accel_target.y

3Hz seems to eliminate most of the noisy movements while keeping loiter responsive. We might want to reduce the frequency cutoff and/or increase the filter order when issue #1465 is resolved and we apply the filter to the feedback portion only.