The helicopter isn't so hard to do if you have at least some arm strength, all you have to do is:
1. Crouch with your hands in front of you
2. Swipe your right leg CCW in front of you
3. Bring your right leg towards the left (during swipe)
----Here comes the tricky part!!!----
3. Lift your left (bent) leg, like a little hop
4. Bring your right leg back to starting position
I hope this helped , peace.
TIP- Remember to keep your legs straight throughout the WHOLE MOTION, or it will look messed up.
TIP- DO NOT lean too forward or backwards - stay balanced on your hands.
Don't be scared to stretch too far - it will only look better
I hope this guide helped most of you guys, peace and good luck to all!