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Experimental (flying!) coaxial rotor

I've heard (and seen) that vanilla helicopter blades lack actual physics simulation (e.g. aeroelasticity, translational lift). This is a pretty successful attempt at a physically accurate coaxial rotor. You can see the blades elastically tilt from cyclic input.

UPDATE: I added a jet engine, now this thing can fly as long as fuel lasts. I also made the blades almost fully articulated - they can flap up/down and lead/lag; however, blade pitch is not affected by the flapping.

Oh yeah, this thing also uses electronic LUA swashplate microcontroller (there's two of them, 2x4 blocks).

Feedback/suggestions/debug welcome