Mine is 4.4kg with a Rededge camera and 2200mAh + 10500mAh batteries.
Thanks, Graham!
Hi Musa,
I would use Atico’s params above. These are the parameters that you need to tune for your setup. I found it easiest to have a laptop nearby with Mission Planner telemetry connected on the Full Parameter List screen. You can then land the VTOL, while keeping it armed, and then just tweak (small change) one parameter and then go test hover. Repeat the process for both parameters and try going in both directions.
My parameters are below but yours may be different. I would start with Atico’s values…which may have come from Graham. I wish I could fly my Nimbus but it was -2 F yesterday and 0 F today. No fun in New York!
Q_A_RAT_YAW_D,0.07
Q_A_RAT_YAW_FF,0.0
Q_A_RAT_YAW_FILT,2.5
Q_A_RAT_YAW_I,0.08
Q_A_RAT_YAW_IMAX,0.5
Q_A_RAT_YAW_P,0.7
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Hi GregCovey.
My first test in Qstablize.
https://www.youtube.com/watch?v=Xv4mjPrDCK4&t=31s
Thank you.
Very nice, you’re off to a great start! Where is your nose? 
I did not put it on.
You tried RTL and work well, alone?
@GregCovey i have try some tuning on Q_A_RAT_YAW like this
Q_A_RAT_YAW_D,0.02 (max is 0,02 not 0,07)
Q_A_RAT_YAW_FF,0.0
Q_A_RAT_YAW_FILT,2.5
Q_A_RAT_YAW_I,0.01 --> if i set high is more wiggling
Q_A_RAT_YAW_IMAX,0.5
Q_A_RAT_YAW_P,0.3 --> this is enough respond i think
and the result like this… https://youtu.be/Og4kzHca-3E
if i reduce “P”, i have difficulty to control the YAW
i cant add more “D” because 0,02 is max “D”
and reducing “I” is not have significant effect i think…
any other suggestion??
Anibal,
I have not flown mine yet as it is winter here in North East USA. Look at Graham’s video above (about 14 days ago) where he did an autonomous flight with transitions and RTL.
Musa,
Great! It looks like we both needed a higher Q_A_RAT_YAW_D setting. Also, now you know that you can change settings beyond the recommended limits.
Cheers!
What method would you have followed to calibrate ESCs?
With Q_ESC_CAL = 1 or the traditional mode?
I use Q_ESC_CAL=1 as follows:
For Step 2: “power up just the flight board and not your motors.”
Plug into the Pixhawk via USB cable to power up and connect via Mission Planner…then set the Q_ESC_CAL=1 via Mission Planner.
Follow remaining steps using the battery to power up ESCs with armed throttle high.
Sometimes you cannot hear all the ESCs making their initial “throttle high” noise so only wait a few seconds before setting the throttle stick low. You will immediately see if all motors start up at once or if the process needs to be repeated.
@GregCovey if i program the flight mission via mission planner from take off until landing vertically, any parameters that i have to pay attention?
Q_WP_SPEED = 500 -> is this enough for nimbus to have lift power?
PS: this my last flying test… https://www.youtube.com/watch?v=i8Vr02ltPoE
Hi Musa,
Nice video! Well done. I liked seeing the motor transitions too.
I believe that Q_WP_SPEED = 500 is the current setting being used but this is a good question for @Graham_Dyer since he has experience with missions.
Musa, I posted my list of changes here: Nimbus Tricopter VTOL (*use at your own risk)
Most were not changed much though, however one that I did change was Q_TRAN_PIT_MAX,10 from the default of 3. Everything else was left default.
Follow and understand what the wiki says too about missions and RTL.
Remember the plane should only be in tricopter mode for a relatively short time. Good luck
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Hi,
Very nice stable hover! You guys are making me envious of your warmer snow-free flying areas. Today, I froze in my backyard testing an Ardu-hexacopter. It was 25F (-4C) outside. 
Cheers!
Finally I have been able to test my Nimbus in QLOITER. This week I also hope to perform another transitions test.
Congratulations, very nice! I envy your flying location, blue sky, and green grass.