This is a demonstration of some recent work by Leonard Hall and I to update the "Loiter" flight mode (aka GPS position hold). What's been added in "acceleration feed-forward" and "braking".
The braking part is fairly obvious - instead of a gentle glide to a stop like AC3.5 (and earlier), the new version has a user configurable brake. During this test I have the acceleration and brake to be set fairly aggressively.
The "acceleration feed-forward" part means that the roll and pitch make the vehicle feel much more like it does in AltHold (or PosHold).
The changes need more testing but this improved loiter should go out with AC3.6.
By the way, if you find that the current Loiter is too slow to stop, there's some advice on the Loiter flight mode wiki page. In particular adjusting the WPNAV_LOIT_MINA, _MAXA and _JERK