Can I use INAV to build a bicopter? 

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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.
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