diff --git a/conf/airframes/NoVa_L.xml b/conf/airframes/NoVa_L.xml
new file mode 100644
index 0000000000..f4253e73cf
--- /dev/null
+++ b/conf/airframes/NoVa_L.xml
@@ -0,0 +1,311 @@
+<!-- this is an asctec frame equiped with  Lisa/L#3 and asctec V2 controllers -->
+
+<airframe name="booz2_a7">
+
+  <servos min="0" neutral="0" max="0xff">
+    <servo name="FRONT"   no="0" min="0" neutral="0" max="255"/>
+    <servo name="BACK"    no="1" min="0" neutral="0" max="255"/>
+    <servo name="LEFT"    no="2" min="0" neutral="0" max="255"/>
+    <servo name="RIGHT"   no="3" min="0" neutral="0" max="255"/>
+  </servos>
+
+  <commands>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <!-- for the sim -->
+  <section name="ACTUATORS_MKK" prefix="ACTUATORS_MKK_">
+    <define name="NB" value="4"/>
+    <define name="ADDR" value="{ 0x52, 0x54, 0x56, 0x58 }"/>
+  </section>
+
+
+  <section name="SUPERVISION" prefix="SUPERVISION_">
+    <define name="MIN_MOTOR" value="3"/>
+    <define name="MAX_MOTOR" value="200"/>
+    <define name="TRIM_A" value="0"/>
+    <define name="TRIM_E" value="0"/>
+    <define name="TRIM_R" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <define name="ROLL_COEF"   value="{  0  ,    0,  256, -256 }"/>
+    <define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
+    <define name="YAW_COEF"    value="{  -256,  -256, 256, 256 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+
+    <define name="GYRO_P_SIGN" value="-1"/>
+    <define name="GYRO_Q_SIGN" value="1"/>
+    <define name="GYRO_R_SIGN" value="-1"/>
+
+    <define name="GYRO_P_NEUTRAL" value="31840"/>
+    <define name="GYRO_Q_NEUTRAL" value="32485"/>
+    <define name="GYRO_R_NEUTRAL" value="32500"/>
+
+    <define name="GYRO_P_SENS" value=" 0.943560" integer="16"/>
+    <define name="GYRO_Q_SENS" value=" 0.926199" integer="16"/>
+    <define name="GYRO_R_SENS" value=" 0.931912" integer="16"/>
+
+
+    <define name="ACCEL_X_SIGN" value="1"/>
+    <define name="ACCEL_Y_SIGN" value="1"/>
+    <define name="ACCEL_Z_SIGN" value="-1"/>
+
+	<define name="ACCEL_X_NEUTRAL" value="38775"/>
+	<define name="ACCEL_Y_NEUTRAL" value="39397"/>
+	<define name="ACCEL_Z_NEUTRAL" value="40319"/>
+	<define name="ACCEL_X_SENS" value="6.13654473092" integer="16"/>
+	<define name="ACCEL_Y_SENS" value="6.40131666838" integer="16"/>
+	<define name="ACCEL_Z_SENS" value="6.52135280494" integer="16"/>
+
+
+
+    <define name="MAG_X_SIGN" value="-43"/>
+    <define name="MAG_Y_SIGN" value=" 49"/>
+    <define name="MAG_Z_SIGN" value="-66"/>
+
+    <define name="MAG_X_NEUTRAL" value="-43"/>
+    <define name="MAG_Y_NEUTRAL" value=" 49"/>
+    <define name="MAG_Z_NEUTRAL" value="-66"/>
+
+    <define name="MAG_X_SENS" value=" 5.32718104135" integer="16"/>
+    <define name="MAG_Y_SENS" value="-4.87857821202" integer="16"/>
+    <define name="MAG_Z_SENS" value="-3.11986612709" integer="16"/>
+
+	<define name="MAG_X_CHAN" value="4"/>
+   <define name="MAG_Y_CHAN" value="0"/>
+    <define name="MAG_Z_CHAN" value="2"/>
+
+    <define name="BODY_TO_IMU_PHI"   value="RadOfDeg(  4.5)"/>
+    <define name="BODY_TO_IMU_THETA" value="RadOfDeg(  6.8)"/>
+    <define name="BODY_TO_IMU_PSI"   value="RadOfDeg(  -45.)"/>
+
+    <define name="GYRO_P_CHAN" value="0"/>
+    <define name="GYRO_Q_CHAN" value="4"/>
+    <define name="GYRO_R_CHAN" value="1"/>
+    <define name="ACCEL_X_CHAN" value="5"/>
+    <define name="ACCEL_Y_CHAN" value="2"/>
+    <define name="ACCEL_Z_CHAN" value="6"/>
+
+
+  </section>
+
+ <section name="AUTOPILOT">
+   <define name="MODE_MANUAL" value="AP_MODE_RATE_DIRECT"/>
+   <define name="MODE_AUTO1"  value="AP_MODE_ATTITUDE_DIRECT"/>
+   <define name="MODE_AUTO2"  value="AP_MODE_ATTITUDE_Z_HOLD"/>
+ </section>
+
+ <section name="BAT">
+   <define name="MILLIAMP_PER_PERCENT" value="0.86"/>
+   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+   <define name="BATTERY_SENS"   value="0.48" integer="16"/>
+ </section>
+
+
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+
+    <define name="GAIN_P" value="-400"/>
+    <define name="GAIN_Q" value="-400"/>
+    <define name="GAIN_R" value="-350"/>
+
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_THETA"   value="RadOfDeg(45.)"/>
+    <define name="SP_MAX_R"       value="RadOfDeg(180.)"/><!-- Maximum speed in deg/s-->
+    <define name="DEADBAND_R"     value="250"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_P"   value="0.85"/>
+    <define name="REF_MAX_P"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="RadOfDeg(800)"/>
+    <define name="REF_ZETA_Q"   value="0.85"/>
+    <define name="REF_MAX_Q"    value="RadOfDeg(300.)"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_R"  value="RadOfDeg(500)"/>
+    <define name="REF_ZETA_R"   value="0.85"/>
+    <define name="REF_MAX_R"    value="RadOfDeg(180.)"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+   <!--  gaui props
+    <define name="PHI_PGAIN"  value="-900"/>
+    <define name="PHI_DGAIN"  value="-200"/>
+    <define name="PHI_IGAIN"  value="-200"/>
+
+    <define name="THETA_PGAIN"  value="-900"/>
+    <define name="THETA_DGAIN"  value="-200"/>
+    <define name="THETA_IGAIN"  value="-200"/>
+
+    <define name="PSI_PGAIN"  value="-900"/>
+    <define name="PSI_DGAIN"  value="-200"/>
+    <define name="PSI_IGAIN"  value="-10"/>
+
+    <define name="PHI_DDGAIN"   value=" 200"/>
+    <define name="THETA_DDGAIN" value=" 200"/>
+    <define name="PSI_DDGAIN"   value=" 200"/>
+  -->
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN"  value="-2000"/>
+    <define name="PHI_DGAIN"  value="-400"/>
+    <define name="PHI_IGAIN"  value="-200"/>
+
+    <define name="THETA_PGAIN"  value="-2000"/>
+    <define name="THETA_DGAIN"  value="-400"/>
+    <define name="THETA_IGAIN"  value="-200"/>
+
+    <define name="PSI_PGAIN"  value="-2000"/>
+    <define name="PSI_DGAIN"  value="-400"/>
+    <define name="PSI_IGAIN"  value="-10"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value=" 300"/>
+    <define name="THETA_DDGAIN" value=" 300"/>
+    <define name="PSI_DDGAIN"   value=" 300"/>
+
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="PROPAGATE_FREQUENCY" value="512"/>
+    <define name="H_X" value=" 0.51562740288882"/>
+    <define name="H_Y" value="-0.05707735220832"/>
+    <define name="H_Z" value=" 0.85490967783446"/>
+  </section>
+
+
+  <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="10." integer="16"/>
+    <define name="UNTILT_ACCEL" value="1"/>
+  </section>
+
+ <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+   <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
+   <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
+   <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
+   <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
+   <define name="MAX_SUM_ERR" value="2000000"/>
+
+
+   <define name="HOVER_KP"    value="-500"/>
+   <define name="HOVER_KD"    value="-200"/>
+   <define name="HOVER_KI"    value="0"/>
+<!--
+   <define name="HOVER_KP"     value="-150"/>
+   <define name="HOVER_KD"     value="-80"/>
+   <define name="HOVER_KI"     value="0"/>
+-->
+   <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+   <define name="RC_CLIMB_COEF" value ="163"/>
+   <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+    <!-- <define name="INV_M" value ="0.2"/> -->
+  </section>
+
+
+ <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+   <define name="PGAIN" value="-50"/>
+   <define name="DGAIN" value="-100"/>
+   <define name="IGAIN" value="-15"/>
+   <define name="NGAIN" value="-0"/>
+ </section>
+
+ <section name="MISC">
+   <define name="FACE_REINJ_1"  value="1024"/>
+ </section>
+
+ <section name="SIMULATOR" prefix="NPS_">
+   <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+   <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+   <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_booz2_a1.h&quot;"/>
+ </section>
+
+<!-- 
+ <modules main_freq="512">
+   <load name="vehicle_interface_overo_link.xml"/>
+ </modules>
+-->
+
+  <firmware name="rotorcraft">
+<!--     <define name="USE_PERSISTENT_SETTINGS"/> -->
+<!--     <define name="USE_INS_NAV_INIT"/> -->
+     <define name="USE_ADAPT_HOVER"/>
+     <define name="FAILSAFE_GROUND_DETECT"/>
+     <define name="USE_GPS_ACC4R"/>
+     <target name="ap" board="lisa_l_1.0">
+      <subsystem name="radio_control" type="spektrum"/>
+<define name="RADIO_MODE" value="RADIO_GEAR"/>
+      <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value="\{1,-1,1,-1,-1,-1,-1,1,1,1,1,1\}"/>
+
+      <subsystem name="actuators"     type="mkk"/>
+    </target>
+    <target name="sim" board="pc">
+      <subsystem name="fdm"           type="nps"/>
+      <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="actuators"     type="mkk"/>
+    </target>
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="imu"           type="crista"/>
+<!--<define name="USE_HMC5843"           value="TRUE"/>-->
+	 <subsystem name="gps"           type="ublox">
+      <configure name="GPS_BAUD"    value="B57600"/>
+    </subsystem>
+   <!--    <subsystem name="ahrs"          type="cmpl"/> -->
+   <subsystem name="ahrs"          type="ic"/> 
+    <subsystem name="ins"           type="hff"/>
+  </firmware>
+
+  <firmware name="lisa_l_test_progs">
+    <target name="test_led"                 board="lisa_l_1.0"/>
+    <target name="test_uart"                board="lisa_l_1.0"/>
+    <target name="test_servos"              board="lisa_l_1.0"/>
+    <target name="test_telemetry"           board="lisa_l_1.0"/>
+    <target name="test_baro"                board="lisa_l_1.0"/>
+    <target name="test_imu_b2"              board="lisa_l_1.0"/>
+    <target name="test_imu_b2_2"            board="lisa_l_1.0"/>
+    <target name="test_imu_aspirin"         board="lisa_l_1.0"/>
+    <target name="test_rc_spektrum"         board="lisa_l_1.0"/>
+    <target name="test_rc_ppm"              board="lisa_l_1.0"/>
+    <target name="test_adc"                 board="lisa_l_1.0"/>
+    <target name="test_hmc5843"             board="lisa_l_1.0"/>
+    <target name="test_itg3200"             board="lisa_l_1.0"/>
+    <target name="test_adxl345"             board="lisa_l_1.0"/>
+    <target name="test_esc_mkk_simple"      board="lisa_l_1.0"/>
+    <target name="test_esc_asctecv1_simple" board="lisa_l_1.0"/>
+    <target name="test_actuators_mkk"       board="lisa_l_1.0"/>
+    <target name="test_actuators_asctecv1"  board="lisa_l_1.0"/>
+    <target name="tunnel_sw"                board="lisa_l_1.0"/>
+    <target name="tunnel_hw"                board="lisa_l_1.0"/>
+  </firmware>
+
+  <firmware name="lisa_passthrough">
+    <target name="overo_test_passthrough" board="lisa_l_1.0"  >
+      <param name="HOST"          value="A7"/>
+      <param name="USER"          value=""/>
+      <param name="TARGET_DIR"    value="~"/>
+      <param name="PERIODIC_FREQ" value="512"/>
+    </target>
+    <target name="stm_passthrough" board="lisa_l_1.0">
+      <subsystem name="radio_control" type="ppm"/>
+      <subsystem name="imu" type="crista"/>
+    </target>
+ </firmware>
+
+
+</airframe>