Bushido built the Helecopter and sent it to me last year. He never publicly released it and my guess is that it's probably not exactly stable.
I'll run some tests on it, but if the helecopter isn't the reason for the lag, then I'm not going to go clearing bricks for you.
Also,
Slight inactivity notice
I'm gonna be a little more inactive because my birthday was on the 22nd, I got a new laptop and I applied at a local tech store for a job. I will promise that once the laptop excitement blows over I'll be far more active.