Here is a short video of poshold (loiter) in strong wind.
During the last two months I was working on the RTH and poshold code for MultiWii, which is finally released some days ago with the 2.1 release. The code is mostly based on the ArduCopter RTH and loiter code, with some optimization and tailoring to fit into an atmega328 controller.
I followed the evolution of the AC code since 2.5 and the things that Jason made with the code are astonishing. I would like to say thank you for keeping AC open source which helps other projects to evolve.
And some frightening stuff