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Thing is that whenever I place anything on the ship - it's fine. Even the very-very same helicopter is. Problems only appear if I spawn heli on the ship from workbench.
If I put a heli down on the ground, walk 1 meter to workbench, spawn a ship and fly the heli to ship's helipad - nothing bad will happen. I can move around with my ship and helicopter attached, then detouch a helicopter, fly somewhere and return.
I just did all that in a time between my original post and this response.
Do you have literally any ship with a helipad, and a helicopter to spawn with it? Try it. Will your helicopter take off properly?
Apparently, rotors collide with ship on spawn, even tho I can't see it. Anyway, nevermind, it's not a game bug.
On a side note, hooking up your gyros to the wrong outputs gives some "fun" results.