We have implemented 4Hz resonant gains for both PRM and BS yaw. The filter was already in place for PRM Yaw, so we just turned it on, but we also copied the filter over to BS Yaw. We also changed the 3.3Hz res gain and the ELP for the PRM servo to match the BS servo, since after implementing the 4Hz gain, PRM was still much noisier than BS. Now the 2 servos match, and PRM is a little quieter. We hope that tonight's locking might be a little more stable after this work.