So far, I've already ditched my bipod and mounted a vertical grip in the channel on the foregrip, because I found myself never using the bipod. It helps with the "box mag hitting your forearm" issue that lots of people, myself including, have reported.
If you want to keep the bipod, I am designing an alternative to the pricy G&P Ranger grip, which should be a pretty easy project.
Internally, mine should be running an 11.1v lipo by the end of the month, so I'll let you know any failure points.