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  • When you are flying straight down, you are descending into your own prop wash, that is, some very turbulent air. Maintaining perfect stability requires more in a situation like that - preferably faster responding motors, finer control by the speed controllers, reliable unsaturated gyro readings, etc. A well tuned copter does it best, but don't be surprised if you find the limit. Just fly around sideways in a pattern while coming down if you want a smoother descent!
  • This happens at lower throttle while descending. Lowering my P value some for roll/pitch has helped some. Also keeping a little forward movement helps some too. You can also try giving a bit more throttle as you feel it staring to wobble and it will calm down some.
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