https://blog.arduino.cc/2022/02/14/this-nano-33-iot-controlled-bicopter-uses-a-pair-of-rotors-to-achieve-stable-flight/
This Nano 33 IoT-controlled bicopter uses a pair of rotors to achieve stable flight | Arduino Blog
Feb 15, 2022 - The classic helicopter design that everyone is familiar with features a large central rotor that produces lift and a much smaller one towards the back, which...