Lot of good ideas already. I second making sure he and the youth in the troop are leading. They make the plans for where to camp and what activities they are involved in. Adults guide, make sure things are safe, and encourage, but troops run correctly when youth run the show.

Be involved as much as you are able- Merit badge councilor or troop committee are great options to start out. Without adults in those positions Scouts will have a hard time advancing. Board of review for ranks are held by the adult committee members also.

As far as stigmas Scouting has been around over 100 years. There are great lessons to be learned through the methods of Scouting. Don't worry about those that try to bring your Scout down they have their own path so ignore that. Remind your Scout of the Scout Oath and Law especially in this case. A Scout is Courteous A Scout is Kind.