The issue is where WordPress allocates the default 'edit_posts' capability to the 'create new post' access.  WordPress is defining this based on the menu access rights the help notes under a common parent menu they the 'Add New' function and hence the we see the 'edit_posts' cap is used.

The fix I've put into 1.3.0.2 is to only place the help notes under the main common menu if the current user has the default 'edit_posts' capability this work round then works and all your users who don't have the  'edit_posts' cap will just see all their Help Note types at the top menu level.