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The Link looks good now. It does look like it is flying very well indeed. The props need to be balanced a little but otherwise it seems pretty well tuned. The wobbly descent happens when the quad gets into its own downwash. Pretty common on all rotorcraft and can result in "settling with power" as it known with helicopters. The is where no matter how much power you add the craft continues to sink through the turbulent air it is creating. Try descending with forward speed to keep the turbulent air behind you.