diff --git a/libraries/Filter/Filter.h b/libraries/Filter/Filter.h
index 8d47ca100f..77ee3c9834 100644
--- a/libraries/Filter/Filter.h
+++ b/libraries/Filter/Filter.h
@@ -17,13 +17,13 @@
 #include <inttypes.h>
 #include <AP_Common.h>
 
-#define FILTER_MAX_SAMPLES 6  // max number of samples that can be added to the filter
+#define FILTER_MAX_SAMPLES 10  // maximum size of the sample buffer (normally older values will be overwritten as new appear)
 
 template <class T>
 class Filter
 {
   public:
-	Filter(uint8_t filter_size);
+	Filter(uint8_t requested_size);
 	~Filter();
 
 	// apply - Add a new raw value to the filter, retrieve the filtered result
@@ -44,8 +44,8 @@ typedef Filter<int16_t> FilterInt16;
 
 // Constructor 
 template <class T>
-Filter<T>::Filter(uint8_t filter_size) :
-	filter_size(filter_size), sample_index(0)
+Filter<T>::Filter(uint8_t requested_size) :
+	filter_size(requested_size), sample_index(0)
 {
 	// check filter size
     if( Filter<T>::filter_size > FILTER_MAX_SAMPLES )
@@ -58,7 +58,7 @@ Filter<T>::Filter(uint8_t filter_size) :
 	reset();
 }
 
-// Destructor
+// Destructor - THIS SHOULD NEVER BE CALLED OR IT COULD LEAD TO MEMORY FRAGMENTATION
 template <class T>
 Filter<T>::~Filter()
 {
diff --git a/libraries/Filter/ModeFilter.h b/libraries/Filter/ModeFilter.h
index b4613290ae..00137b652e 100644
--- a/libraries/Filter/ModeFilter.h
+++ b/libraries/Filter/ModeFilter.h
@@ -22,7 +22,7 @@ template <class T>
 class ModeFilter : public Filter<T>
 {
   public:
-	ModeFilter(uint8_t filter_size, uint8_t return_element);
+	ModeFilter(uint8_t requested_size, uint8_t return_element);
 
 	// apply - Add a new raw value to the filter, retrieve the filtered result
 	virtual T	apply(T sample);
@@ -40,14 +40,14 @@ typedef ModeFilter<int16_t> ModeFilterInt16;
 // Constructor    //////////////////////////////////////////////////////////////
 
 template <class T>
-ModeFilter<T>::ModeFilter(uint8_t filter_size, uint8_t return_element) :
-	Filter<T>(filter_size),
+ModeFilter<T>::ModeFilter(uint8_t requested_size, uint8_t return_element) :
+	Filter<T>(requested_size),
 	_return_element(return_element),
 	drop_high_sample(true)
 {
 	// ensure we have a valid return_nth_element value.  if not, revert to median
-	if( _return_element >= filter_size )
-		_return_element = filter_size / 2;
+	if( _return_element >= Filter<T>::filter_size )
+		_return_element = Filter<T>::filter_size / 2;
 };
 
 // Public Methods //////////////////////////////////////////////////////////////
diff --git a/libraries/Filter/SumFilter.h b/libraries/Filter/SumFilter.h
index 300124d1c1..cbbbcb6d89 100644
--- a/libraries/Filter/SumFilter.h
+++ b/libraries/Filter/SumFilter.h
@@ -21,7 +21,7 @@ template <class T>
 class SumFilter : public Filter<T>
 {
   public:
-	SumFilter(uint8_t filter_size) : Filter<T>(filter_size) {};
+	SumFilter(uint8_t requested_size) : Filter<T>(requested_size) {};
 
 	// apply - Add a new raw value to the filter, retrieve the filtered result
 	virtual T apply(T sample);