Earlier quoted context omitted.
Ardupilot will not hit a human size target. People can barely do it. You're not going to lob a tumbling quad at a target with any accuracy that's a joke. To do this with any reliability you need custom software and probably hardware. It'll look more like a smart munition. But it'll also be more difficult than strapping a knife to a RC plane.
First, we aren't talking knives. Second, who said the quad was tumbling? Significantly cutting engine speed and removing significant lift forces on a quad in order to kill the buzz doesn't mean it will start wildly gyrating. Third, Ardupilot will get you within a few feet of a specified point with a good enough vector and speed. Luckily you can use a subroutine (secondary control program) to handle the final approach…
A quad will tumble with the motors off, the whole thing is a significant lift force. It was a big problem in early controller software where throttle dead zone would turn off the props. A problem I personally experienced. Maintaining any semblance of stability requires active adjustment.
And no, Ardupilot will not get anything going at high speed to within a few feet in 3d space.