I did enjoy the first season of the series, but then was turned off by some story arcs, but maybe I will give it a try again. Are the books more consistent?

Much more consistent. Books are huge, hence the need to shorten them.

But IMHO, series have done a really good job overall. Given how nearly impossible it is to simulate micro-gravity, or other advanced technology.

Also, in season three or four suddenly everybody started cursing all the time. The series just wasn't fun to watch anymore.