Guys
I found a easy way to have your AQ copter come down from a few hundred feet of altitude fast and not worry about having your multicopter disarm because of a very aggressive change in horizontal speed and the descent rate.
You can use a Takeoff WP with a negative altitude value and set the rate of descent as high as you think your MR can remain stable at. Then at a hundred feet or less of altitude use a second Takeoff WP with a negative altitude value that's large enough so you will reach the ground and a slow descent rate for a nice landing. Using a landing WP may cause an unwanted motors disarming if you slow from a high rate of descent to a slow rate.
You will need to disarm the motors when landed.
Larry