I can't say I agree about the reaction wheel approach. It is possible to do proper roll and pitch control in Unity, and the newer FS rotors do it by altering the pitch of the blades as they rotate around. There is wing code running on each blade. (It worked so well that by default I turned off adding real world speed into the math because it caused too much asymmetry of lift in anything but a dual rotor setup.) The older rotors do it by altering the thrustTransform angle instead of moving the thrust average position, but the effect is pretty much the same. Reaction wheels are a cheat, and I have never been a fan. You might notice reaction wheels are off or incredibly weak on the FS cockpits, because it doesn't let you simulate the actual effect of the rotors, or control surfaces and wing setup. Which for me is the whole fun of it. Both the old and the new rotors have functioning hover (or did last time I checked, which is a while ago). Instead of checking the mass etc, which would not give the right result when at an angle or while not vertically stable, it checks the split second changes to vertical speed and compensates as needed. It does however require the engine be powerful enough to get you out of a jam. If it's not powerful enough to lift you at 50% throttle, it's probably not powerful enough to reliably hover your vessel. I haven't played with the fuel flow in a long time, so it's possible there are better solutions now for sure.