Today, my TrIMUpter v1.0 has successfully done its first outdoor flight. This is a VTOL Tricopter fully stabilized by the ArduIMU+ V2 flat and (with my firmware TriStab v1.0). No external gyro here, only the ArduIMU on board... The TrIMUpter is able to flight outdoor and indoor.
More photos at: http://diydrones.com/photo/albums/trimupter-a-vtol-tricopter
Stay tuned on: http://diydrones.com/profile/JeanLouisNaudin