Hey All,
This post is targeted to the ongoing issue with Cydia Impactor and self signing certificate error while trying to install Yalu IPA on iOS 10.

A simple workaround for that would be to install the IPA signed by someone else, example:
Open the following link on your device and install the IPA.
http://zerostore.co/jb/

Verify the profile once it's installed and jailbreak again.

The root cause as to why Impactor isn't working on Windows is that on Windows, it uses a self signed certificate which has been revoked by Apple. While /u/saurik works on the fix, we can use this workaround and get things working.