First undo the control tray pushrods from the swashplate. Pull the pin and remove the head. With a small file, remove all burrs from around the pin hole in the shaft. Loosen the collar and remove it. Eyeball and straighten the shaft with pliers the best ya can. The shaft may not come out easy, and will probably require the use of a a small hammer or simular tool, and a long skinny punch, nail or whatever. The shaft is part of the gear, and they don't seperate... Also, you need to remove the skids and battery tray...