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He specifically says if the motors independently tilt. This is active control. The Rocket pendulum fallacy is only valid for systems requiring passive stability.

Tandem rotor helicopters exist.

Rockets also have active control via gimballing motors. Bicopters tilt their motors to control pitch and yaw, roll is still governed by motor speed.

I was arguing against the COG of the payload, not of the existence of bicopters entirely.

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