hinge joint help?

I have a helicopter and it uses two hingeJoint motors: one for the main rotor and the other for the tail rotor. I think the spinning main rotor is applying some kind of opposing force onto my helicopter's body, thus spinning the helicopter in the opposite direction of the blades. This goes against the natural laws of physics, in that it's not trying to spin the SAME way as the blades, but rather the OPPOSITE way. I think the same may be happening with the tail rotor, because the helicopter slowly leans forward.

What can I put in my script to keep the helicopter facing the correct direction at all times? (Besides freezeRotation)

And better yet, what could I use to make this action smoother? (so that the helicopter doesn't just do a stop-and-go rotation)

Thanks for your help!