diff --git a/ArduCopter/Attitude.pde b/ArduCopter/Attitude.pde
index 9942a2dda8..a91b5ce4a6 100644
--- a/ArduCopter/Attitude.pde
+++ b/ArduCopter/Attitude.pde
@@ -1,6 +1,4 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-// XXX TODO: convert these PI rate controlers to a Class
 static int
 get_stabilize_roll(long target_angle)
 {
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index 2533c08565..f396bfe74f 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -430,9 +430,6 @@ test_imu(uint8_t argc, const Menu::arg *argv)
 	while(1){
 		//delay(20);
 		if (millis() - fast_loopTimer >= 5) {
-			//delta_ms_fast_loop 	= millis() - fast_loopTimer;
-			//G_Dt 				= (float)delta_ms_fast_loop / 1000.f;		// used by DCM integrator
-			//fast_loopTimer		= millis();
 
 			// IMU
 			// ---
@@ -451,7 +448,7 @@ test_imu(uint8_t argc, const Menu::arg *argv)
 			}
 
 			if(medium_loopCounter == 20){
-				read_radio();
+				//read_radio();
 				medium_loopCounter = 0;
 				//tuning();
 				//dcm.kp_roll_pitch((float)g.rc_6.control_in / 2000.0);
diff --git a/libraries/AP_ADC/AP_ADC_ADS7844.cpp b/libraries/AP_ADC/AP_ADC_ADS7844.cpp
index f0fc048886..339c3f1460 100644
--- a/libraries/AP_ADC/AP_ADC_ADS7844.cpp
+++ b/libraries/AP_ADC/AP_ADC_ADS7844.cpp
@@ -230,26 +230,34 @@ uint32_t AP_ADC_ADS7844::Ch6(const uint8_t *channel_numbers, uint16_t *result)
 
 	if(filter_result){
 		uint32_t _filter_sum;
-		for (i = 0; i < 3; i++) {
+
+		for (i = 0; i < 6; i++) {
 			// move most recent result into filter
 			_filter[i][_filter_index] = result[i];
 
 			_filter_sum = 0;
 			// sum the filter
-			for (uint8_t n = 0; n < 8; n++) {
+			for (uint8_t n = 0; n < ADC_FILTER_SIZE; n++) {
 				_filter_sum += _filter[i][n];
 			}
 
-			result[i] = _filter_sum / 8;
+			// filter does a moving average on last 4 reads, sums half with
+			// half of last filtered value
+			result[i] = (_filter_sum >> 3) + (_prev[i] >> 1);   // divide by 8, divide by 2
+
+			// save old result
+			_prev[i] = result[i];
 		}
+
 		// increment filter index
 		_filter_index++;
 
 		// loop our filter
-		if(_filter_index == 8)
+		if(_filter_index == ADC_FILTER_SIZE)
 			_filter_index = 0;
 	}
 
+
 	// return number of microseconds since last call
 	uint32_t us = micros();
 	uint32_t ret = us - last_ch6_micros;
diff --git a/libraries/AP_ADC/AP_ADC_ADS7844.h b/libraries/AP_ADC/AP_ADC_ADS7844.h
index e33f157f92..a8a8d53753 100644
--- a/libraries/AP_ADC/AP_ADC_ADS7844.h
+++ b/libraries/AP_ADC/AP_ADC_ADS7844.h
@@ -9,7 +9,9 @@
 #define ADC_DATAIN      50    // MISO
 #define ADC_SPICLOCK    52    // SCK
 #define ADC_CHIP_SELECT 33    // PC4   9 // PH6  Puerto:0x08 Bit mask : 0x40
-#define ADC_FILTER_SIZE	8
+
+// DO NOT CHANGE FROM 4
+#define ADC_FILTER_SIZE 4
 
 #include "AP_ADC.h"
 #include <inttypes.h>
@@ -28,7 +30,8 @@ class AP_ADC_ADS7844 : public AP_ADC
 	bool	filter_result;
 
 	private:
-	uint16_t 		_filter[3][ADC_FILTER_SIZE];
+	uint16_t 		_filter[6][ADC_FILTER_SIZE];
+	uint16_t 		_prev[6];
 	uint8_t			_filter_index;
 
 };
diff --git a/libraries/AP_IMU/AP_IMU_Oilpan.cpp b/libraries/AP_IMU/AP_IMU_Oilpan.cpp
index 73cef75e4e..a150648b56 100644
--- a/libraries/AP_IMU/AP_IMU_Oilpan.cpp
+++ b/libraries/AP_IMU/AP_IMU_Oilpan.cpp
@@ -293,9 +293,9 @@ AP_IMU_Oilpan::update(void)
 	_accel.y = _accel_scale * _sensor_in(4, adc_values[4], tc_temp);
 	_accel.z = _accel_scale * _sensor_in(5, adc_values[5], tc_temp);
 
-	_accel_filtered.x = _accel_filtered.x * .98 + _accel.x * .02;
-	_accel_filtered.y = _accel_filtered.y * .98 + _accel.y * .02;
-	_accel_filtered.z = _accel_filtered.z * .98 + _accel.z * .02;
+	_accel_filtered.x = _accel_filtered.x / 2 + _accel.x / 2;
+	_accel_filtered.y = _accel_filtered.y / 2 + _accel.y / 2;
+	_accel_filtered.z = _accel_filtered.z / 2 + _accel.z / 2;
 
 	// always updated
 	return true;