FPV University | Can I use INAV to build a bicopter? @FPVUniversity | Uploaded May 2022 | Updated October 2024, 17 hours ago.
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Yes, you can build a bicopter (2 props, 2 motors, and 2 servos) with INAV. It's more than possible, and over the years I've built several of those. But, INAV support for bicopters is not the best and is missing some features like selective Angle mode for one axis and logic for better handling the gyroscopic precession.

Why we don't use bicopter drones? youtu.be/rCXXB1xhToI