How to make this bicopter:

(1) 3d printed parts: print one bicopter body, the rest four parts are printed in duplicates. Bicopter body is modified from https://www.thingiverse.com/thing:4641165 Tilt mechanism is modified from https://www.thingiverse.com/thing:4086482 Material: PLA, 100% infill for the tilt mechanism (bottom, motor holder, servo holder), arm and body 25% infill. Sand tilt mechanism parts to fit and tilt flexibly.

(2) Other key parts: one square carbon fiber tube 10x10x330mm, two M3*25 screws for tilt mechanism, GPS holder (I just cut it out from a thin piece of balsa wood, and double taped it on the arms)

(3) Electronics: Pixhawk 2.4.8 FC with ArduCopter (Note: there is no bicopter icon under ArduCopter, just set "Frame_Class" parameter to 10, "Frame_Type" does not matter), R615X receiver, M8N GPS, two 2204 2300 kv motors, two 5x3.1x3 tribade propellers, two MG90S 9g micro servos metal gear, one 4s 1550mah 100C lipo battery, 4in1 ESC 48A (I just used one at hand)

Remote controlled and autonomous flight videos: https://youtu.be/uIhUReUzhnU https://youtu.be/dl0P4WQ2i4U