Bug,
I'm trying to work out your control system. Apologies if this is trade secret (patented right?). Looks to me like an electric motor driving a cut down R22 rotorhead, with hydraulics to overcome weight. So the cylinder can also pivot about the ground?
Full hydraulics makes more sense to me. I gather industry standard for helicopter dynamics is GenHel, but don't know much about it. It's an area i am interested in.