Arowana Tandem Bicopter (VC-04 sub-250g chinook with 2S-18650)

Sub-250g chinook (tandem) configuration bicopter with 2S-18650 batteries. Uses Arduino Nano 33 IoT and flight control firmware (and algorithms) designed from scratch. 3-D printed Frame. Bicopters don't really need that much yaw, so limiting the rotor tilt angle by software allows the rotors to overlap. Also the servos are at an angle that tilt and “sweep“ the rotors, so that the reaction torque of tilting the rotors is minimized, and the aircraft can be compact. Controled by my DIY transmitter that can tune the parameters and do calibrations onveniently.