We have a similar one here in Costa Rica. It has a bright red forked "tongue" and emits an awfully strong smell when molested. I haven't seen any recently in my citrus trees but I am looking.
It's probably a swallowtail of some kind: the early caterpillars often mimic bird droppings and some are notorius consumers of citrus. This one is particularly cool for the pairs of horns.
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