diff --git a/conf/airframes/examples/quadshot_asp21_spektrum.xml b/conf/airframes/examples/quadshot_asp21_spektrum.xml
new file mode 100644
index 0000000000..11a9b363bb
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+++ b/conf/airframes/examples/quadshot_asp21_spektrum.xml
@@ -0,0 +1,276 @@
+<!-- this is a quadshot vehicle equiped with Lisa/m2.0 and an aspirin 2.1
+More information on the Quadshot can be found at transition-robotics.com -->
+
+<airframe name="quadshot aspirin 2.1 spektrum">
+
+  <servos driver="Pwm">
+    <servo name="A1" no="0" min="1000" neutral="1050" max="2000"/>
+    <servo name="A2" no="1" min="1000" neutral="1050" max="2000"/>
+    <servo name="B1"  no="2" min="1000" neutral="1050" max="2000"/>
+    <servo name="B2"  no="3" min="1000" neutral="1050" max="2000"/>
+    <servo name="ELEVON_LEFT"  no="4" min="1000" neutral="1500" max="2000"/>
+    <servo name="ELEVON_RIGHT"  no="5" min="1000" neutral="1500" max="2000"/>
+  </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>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="A1" value="motor_mixing.commands[SERVO_A1]"/>
+    <set servo="A2"  value="motor_mixing.commands[SERVO_A2]"/>
+    <set servo="B1" value="motor_mixing.commands[SERVO_B1]"/>
+    <set servo="B2"  value="motor_mixing.commands[SERVO_B2]"/>
+
+ <!-- Mode dependent actuator laws for the elevons. The elevons act different in rc attitude flight mode-->
+ <!-- First the correct feedback is stored in variables -->
+    <let var="aileron_feedback_left"  value="@YAW"/>
+    <let var="aileron_feedback_right" value="@YAW"/>
+
+    <let var="elevator_feedback_left"  value="+@PITCH"/>
+    <let var="elevator_feedback_right" value="-@PITCH"/>
+
+ <!-- Here the gains are defined for the two feedback cases, hover and forward-->
+    <let var="hover_left"  value="3*$aileron_feedback_left"/>
+    <let var="hover_right" value="3*$aileron_feedback_right"/>
+
+    <let var="forward_left"  value="6*$aileron_feedback_left+4*$elevator_feedback_left"/>
+    <let var="forward_right" value="6*$aileron_feedback_right+4*$elevator_feedback_right"/>
+
+ <!-- This statement tells the autopilot to use the hover feedback if in mode attitude direct and to use the forward feedback in all other cases-->
+    <set servo="ELEVON_LEFT"    value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_left  : $forward_left" />
+    <set servo="ELEVON_RIGHT"   value="AP_MODE == AP_MODE_ATTITUDE_DIRECT ? $hover_right  : $forward_right" />
+  </command_laws>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TRIM_ROLL" value="0"/>
+    <define name="TRIM_PITCH" value="0"/>
+    <define name="TRIM_YAW" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <define name="PITCH_COEF"  value="{ -256, -256,  256,  256 }"/>
+    <define name="ROLL_COEF"   value="{  256, -256,  256, -256 }"/>
+    <define name="YAW_COEF"    value="{ -256,  256,  128, -128 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <!-- Use default driver values for gyro -->
+
+ <!-- IMU calibration, make sure to calibrate the IMU properly before flight, see the wiki for more info-->
+    <define name="ACCEL_X_NEUTRAL" value="0"/>
+    <define name="ACCEL_Y_NEUTRAL" value="0"/>
+    <define name="ACCEL_Z_NEUTRAL" value="0"/>
+    <define name="ACCEL_X_SENS" value="4.86487566223" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="4.89957269597" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="4.82616398266" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="0"/>
+    <define name="MAG_Y_NEUTRAL" value="0"/>
+    <define name="MAG_Z_NEUTRAL" value="0"/>
+    <define name="MAG_X_SENS" value="4.19385009207" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.32306399648" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.63243801309" integer="16"/>
+  </section>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="90." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
+  </section>
+
+ <section name="AUTOPILOT">
+   <define name="MODE_MANUAL"  value="AP_MODE_ATTITUDE_DIRECT"/>
+   <define name="MODE_AUTO1" value="AP_MODE_FORWARD"/>
+   <define name="MODE_AUTO2"  value="AP_MODE_RATE_DIRECT"/>
+
+   <define name="USE_THROTTLE_FOR_MOTOR_ARMING" value="TRUE"/>
+ </section>
+
+ <section name="BAT">
+    <define name="MIN_BAT_LEVEL" value="10.4" units="V"/>
+   <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+ </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="350"/>
+    <define name="GAIN_Q" value="250"/>
+    <define name="GAIN_R" value="350"/>
+
+    <define name="IGAIN_P" value="200"/>
+    <define name="IGAIN_Q" value="200"/>
+    <define name="IGAIN_R" value="200"/>
+  </section>
+
+ <!-- These gains are used when the gain scheduling module is enabled (by loading it in the modules section)-->
+  <section name ="GAIN_SETS">
+    <define name="NUMBER_OF_GAINSETS" value="2"/>
+    <define name="SCHEDULING_VARIABLE" value="(radio.values[COMMAND_THRUST]+ transition_status"/>
+    <define name="SCHEDULING_POINTS" value="{1000, 6000}"/>
+    <define name="SCHEDULING_VARIABLE_FRAC" value="0"/>
+
+    <define name="PHI_P" value="{230, 230}"/>
+    <define name="PHI_D" value="{170, 170}"/>
+    <define name="PHI_I" value="{30, 30}"/>
+    <define name="PHI_DD" value="{0, 0}"/>
+
+    <define name="THETA_P" value="{200, 300}"/>
+    <define name="THETA_D" value="{100, 50}"/>
+    <define name="THETA_I" value="{40, 40}"/>
+    <define name="THETA_DD" value="{0, 0}"/>
+
+    <define name="PSI_P" value="{300, 300}"/>
+    <define name="PSI_D" value="{150, 150}"/>
+    <define name="PSI_I" value="{0, 0}"/>
+    <define name="PSI_DD" value="{0, 0}"/>
+  </section>
+
+  <section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="60." unit="deg"/>
+    <define name="SP_MAX_THETA"   value="60." unit="deg"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
+    <define name="DEADBAND_R"     value="250"/>
+    <define name="DEADBAND_A"     value="250"/>
+    <define name="SP_PSI_DELTA_LIMIT" value="90" unit="deg"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P"  value="3000" unit="deg/s"/>
+    <define name="REF_ZETA_P"   value="0.85"/>
+    <define name="REF_MAX_P"    value="300." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="3000" unit="deg/s"/>
+    <define name="REF_ZETA_Q"   value="0.85"/>
+    <define name="REF_MAX_Q"    value="300." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(7000.)"/>
+
+    <define name="REF_OMEGA_R"  value="3000" unit="deg/s"/>
+    <define name="REF_ZETA_R"   value="0.9"/>
+    <define name="REF_MAX_R"    value="90." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(900.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN"  value="230"/>
+    <define name="PHI_DGAIN"  value="170"/>
+    <define name="PHI_IGAIN"  value="30"/>
+
+    <define name="THETA_PGAIN"  value="300"/>
+    <define name="THETA_DGAIN"  value="50"/>
+    <define name="THETA_IGAIN"  value="40"/>
+
+    <define name="PSI_PGAIN"  value="300"/>
+    <define name="PSI_DGAIN"  value="150"/>
+    <define name="PSI_IGAIN"  value="0"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value=" 0"/>
+    <define name="THETA_DDGAIN" value=" 0"/>
+    <define name="PSI_DDGAIN"   value=" 0"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="22.4" integer="16"/>
+  </section>
+
+ <!-- Gains for vertical navigation -->
+ <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="200"/>
+   <define name="HOVER_KD"    value="175"/>
+   <define name="HOVER_KI"    value="72"/>
+   <define name="RC_CLIMB_COEF" value ="163"/>
+   <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+   <define name="GUIDANCE_V_NOMINAL_HOVER_THROTTLE" value ="0.4"/>
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="PROPAGATE_FREQUENCY" value="512"/>
+    <define name="H_X" value=" 0.47577"/>
+    <define name="H_Y" value=" 0.11811"/>
+    <define name="H_Z" value=" 0.87161"/>
+  </section>
+
+ <!-- Gains for horizontal navigation-->
+ <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+   <define name="PGAIN" value="100"/>
+   <define name="DGAIN" value="100"/>
+   <define name="IGAIN" value="0"/>
+ </section>
+
+ <section name="MISC">
+   <define name="REF_QUAT_INFINITESIMAL_STEP" value="TRUE"/>
+   <!--The Quadshot uses a slightly different axis system for the setpoint, to make both hovering and flying forward intuitive-->
+   <define name="USE_EARTH_BOUND_RC_SETPOINT" value="TRUE"/>
+   <!-- This is the pitch angle that the Quadshot will have in forward flight, where 0 degrees is hover-->
+   <define name="TRANSITION_MAX_OFFSET" value="-82.0" unit="deg"/>
+   <define name="RADIO_CONTROL_SPEKTRUM_SIGNS" value=" {1,1,-1,-1,1,-1,1,1,1,1,1,1}"/>
+ </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="gps_ubx_ucenter.xml"/>
+   
+   <!-- The the led_safety_status module will make the Quadshot LEDs blink in certain patterns when there are safety violations-->
+   <load name="led_safety_status.xml">
+         <define name="USE_LED_BODY" value="1"/>
+         <define name="SAFETY_WARNING_LED" value="BODY"/>
+   </load>
+
+ <!-- Load this module to use multiple gain sets, which have to be specified in the gain sets section -->
+   <!--load name="gain_scheduling.xml"/-->
+</modules>
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="lisa_m_2.0">
+    <subsystem name="radio_control" type="spektrum">
+      <!-- Put the mode on channel AUX1-->
+      <define name="RADIO_MODE" value="RADIO_AUX1"/>
+<!--       <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="1"/> -->
+    </subsystem>
+    <!-- If using aspirin 2.2, make sure to uncomment the following barometer configuration: -->
+<!--       <configure name="LISA_M_BARO" value="BARO_MS5611_SPI"/> -->
+    </target>
+
+    <target name="nps" board="pc">
+      <subsystem name="fdm"           type="jsbsim"/>
+      <subsystem name="radio_control" type="ppm"/>
+    </target>
+
+    <subsystem name="motor_mixing"/>
+    <subsystem name="actuators"     type="pwm">
+      <define name="SERVO_HZ" value="400"/>
+      <define name="USE_SERVOS_7AND8"/>
+    </subsystem>
+
+    <subsystem name="telemetry"     type="transparent"/>
+    <subsystem name="imu"           type="aspirin_v2.1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization" type="int_quat"/>
+
+    <subsystem name="ahrs"          type="int_cmpl_quat">
+      <configure name="USE_MAGNETOMETER" value="0"/>
+      <define name="AHRS_USE_GPS_HEADING" value="0"/>
+    </subsystem>
+    
+    <subsystem name="ins"/>
+  </firmware>
+</airframe>