RE: Glitches - how to prevent them?
Glitches are sometimes tough to hunt down, and there's no one solution. Manufacturing variances, can sometimes produce a receiver that's particularly sensitive, or a servo/ESC that's out of spec and producing an unusual amount or RF noise. There's always plain old defective or failed components. It can literally happen any time, anywhere...
The first thing to try is to rearrange components. I'm thinking about the arrangements on my electrics, and generally speaking, the motor, ESC and battery are in front, while the receiver is located well behind... Nary the two shall meet.