CTho9305

I've built a skycrane that seems to work pretty well outside of atmospheres, but it tends to flip over and refuse to recover when descending through an atmosphere. What's the best way to deal with this? I'd prefer to avoid adding parachutes or heavy components... does the rover section have too much drag? (The OKTO2 on the very top was just added for this screenshot; the real control is in the OKTO2 on the toroidal tanks and under the center of the rover)