Physics Chain Animation Question

http://s000.tinyupload.com/?file_id=37536666548748967809
I am trying to animate a Quadracopter flying. Underneath the quadra, i have 4 chains built to work with the physics simulator.
I would like to keyframe an animation of the qurada flying, and have the chains move with physics simulator. So far, the chains act as they should when i press alt A. However, when i try and keyframe a movement the chains do not move.
Hopefully i have described this properly. Thanks in advance for any help.

If there is a better way of realizing this animation, i am open to suggestions.