For the 530, are you updated to the most recent version 0.3.0? Did you try turning up the volume knob on the 530? If you have the jpl 152 mod it inadvertently messes with some things.
For the swaying, check out this post https://community.justflight.com/topic/1915/altitude-hold-severe-jitter you’ll see my post with a fix. JF should hopefully have this sorted in the next update.