At present, bird-inspired aircraft are generally in the stage of laboratory exploration. Bird-inspired aircraft are rarely seen in practical applications. It has a shorter flight duration compared to fixed wing aircraft, which immensely impose restrictions on the practical applications of the bird-inspired aircraft. Therefore, improving the flight duration of the bird-inspired aircraft has become an important way to promote the practicality of the bird-inspired aircraft. In addition to improving the energy density of the battery in the simplest way, improving the endurance time requires a reasonable sum of the parameters of the aircraft. Therefore, we used the propulsion wave theory and overall designed the parameters of the long-endurance flapping-wing aircraft according to the demand for long-endurance. At the same time, we designed a high mobility and agility flapping and servo mechanism to improve the flight performance of the aircraft, and finally achieved a total flight time of 1 h and 31 min under the use of 211 wh/kg lithium batteries.