RE: Glitching = crash, any reccomendations?
What I see from the pictures'
Do not run your antennae wire or servo wires anywhere near RF generators (ESC and motor), it looks like a servo or ESC wire is up against the motor. Do you have a ferrous ring on your ESC lead?
The antennae routing you have is fairly normal but I would stretch it to the verticle fin with a rubber band. I would not route it to the horizontal fin like you have it.
Have you done a range check with the TX antennae down? Do you get 30 or more paces away before ANY servos start to act up?