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Don't worry about touching water just a bit because cockpit is sealed
A few adjustments:
I've found that 2000RPM on the rotor is very good for overall flight, and I think the start value should be set there.
The Altitude Hold PID way over corrects, I found some better values for it:
P:0.08
I:0.000002
D:1.8
These bring the helicopter to the target altitude and doesn't over shoot it (Great for getting low with torpedoes.)