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How to kill bird poop caterpillars (Papilio cresphontes) from my lemon tree

Recently I have noticed a lot of caterpillars that look like bird poop. I believe they are called Papilio cresphontes. These have basically killed one of my lemon trees. How can I get rid of them organically. I have hand picked as many as I could off the leaves but I'm sure there are still a lot of them on the lemon tree. This is how they look 
 
http://www.youtube.com/watch?v=DRfnbCno-9o
 
I think even getting rid of the swallowtail larvae they will come back. They have a the same yearly migration and will come back next season.
 
you can use Bacillus thuringiensis for an organically acceptable way to control lemon tree caterpillar population. Use this spray  once the caterpillars start to emerge. Cover all of the foliage thoroughly.
 
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