I know that your retract issue might be an easy fix mate. The legs are connected the same way the gimbal is, it clicks into place and the metal fingers make contact. If you remove the 2 screws on each leg then pull out the leg, It will propablly be a poor connection. Try removing the re fitting both legs (no wires attached), then start her up again and place it upside down on the bench and retract the legs via the controller... see if that helps
here is a video that shows u how to remove them.... go to 3 minutes and 17 seconds and watch how easy it is to do