diff --git a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
index af5f0e5eb9..01e93ab0a9 100644
--- a/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_iris_indi.xml
@@ -12,7 +12,7 @@
 
   <firmware name="rotorcraft">
 
-    <target name="ap" board="px4fmu_2.4" />
+    <target name="ap" board="px4fmu_2.4_chibios" />
       <configure name="PERIODIC_FREQUENCY" value="200"/>
       <configure name="TELEMETRY_FREQUENCY" value="60"/>
 
@@ -121,7 +121,7 @@
 
   <modules main_freq="PERIODIC_FREQUENCY">
     <!-- allow flashing FBW target through AP -->
-    <module name="px4_flash"/>
+    <!--module name="px4_flash"/-->
 
     <!-- CPU utilization monitor -->
     <module name="sys_mon"/>
diff --git a/conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml b/conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml
index 23e5363f7e..7826367242 100644
--- a/conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml
+++ b/conf/airframes/AGGIEAIR/aggieair_rp3_lia.xml
@@ -11,6 +11,7 @@ RP3 Lisa MX
       <module name="radio_control" type="sbus">
         <configure name="SBUS_PORT" value="UART5"/>
       </module>
+      <configure name="HAS_LUFTBOOT" value="1"/>
     </target>
 
     <!-- NOTE: if you want to use extra_dl module for HITL
diff --git a/conf/boards/lisa_m_common_chibios.makefile b/conf/boards/lisa_m_common_chibios.makefile
index 97c9515a79..7a929d98cb 100644
--- a/conf/boards/lisa_m_common_chibios.makefile
+++ b/conf/boards/lisa_m_common_chibios.makefile
@@ -25,7 +25,7 @@ PROJECT = $(TARGET)
 
 # Project specific files and paths (see Makefile.chibios for details)
 CHIBIOS_BOARD_PLATFORM = STM32F1xx/platform.mk
-# CHIBIOS_BOARD_LINKER script depends on whether we use a bootloader or not, see below
+CHIBIOS_BOARD_LINKER = STM32F107xC.ld
 CHIBIOS_BOARD_STARTUP = startup_stm32f1xx.mk
 
 ##############################################################################
@@ -39,8 +39,7 @@ FLASH_MODE ?= DFU
 
 HAS_LUFTBOOT ?= 1
 ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
-$(TARGET).CFLAGS+=-DLUFTBOOT -DCORTEX_VTOR_INIT=0x00002000
-CHIBIOS_BOARD_LINKER = STM32F107xC_luftboot.ld
-else
-CHIBIOS_BOARD_LINKER = STM32F107xC.ld
+$(TARGET).CFLAGS+=-DLUFTBOOT
+DFU_ADDR = 0x8002000
+DFU_PRODUCT = Lisa/Lia
 endif
diff --git a/conf/boards/lisa_mx_2.1_chibios.makefile b/conf/boards/lisa_mx_2.1_chibios.makefile
index afc6ca609f..ada27bb229 100644
--- a/conf/boards/lisa_mx_2.1_chibios.makefile
+++ b/conf/boards/lisa_mx_2.1_chibios.makefile
@@ -30,11 +30,16 @@ CHIBIOS_BOARD_PLATFORM = STM32F4xx/platform.mk
 CHIBIOS_BOARD_LINKER = STM32F407xG.ld
 CHIBIOS_BOARD_STARTUP = startup_stm32f4xx.mk
 
+HAS_LUFTBOOT ?= 0
+ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
+$(TARGET).CFLAGS+=-DLUFTBOOT
+DFU_ADDR = 0x8004000
+DFU_PRODUCT = Lisa/Lia
+endif
+
 ##############################################################################
 # Compiler settings
 #
 MCU  = cortex-m4
 
-HAS_LUFTBOOT = FALSE
-
 include $(PAPARAZZI_SRC)/conf/boards/lisa_mx_defaults.makefile
diff --git a/conf/boards/px4fmu_2.4_chibios.makefile b/conf/boards/px4fmu_2.4_chibios.makefile
index 67e4d26fc0..f18d48d02d 100644
--- a/conf/boards/px4fmu_2.4_chibios.makefile
+++ b/conf/boards/px4fmu_2.4_chibios.makefile
@@ -32,6 +32,14 @@ CHIBIOS_BOARD_PLATFORM = STM32F4xx/platform.mk
 CHIBIOS_BOARD_LINKER = STM32F407xG.ld
 CHIBIOS_BOARD_STARTUP = startup_stm32f4xx.mk
 
+# In this case we dont have LUFTBOOT but PX4_BOOTLOADER, but in order
+# to correctly initialize the interrupt vector we have to define that
+# the board has LUFTBOOT
+HAS_LUFTBOOT ?= 1
+ifeq (,$(findstring $(HAS_LUFTBOOT),0 FALSE))
+$(TARGET).CFLAGS+=-DLUFTBOOT
+endif
+
 ##############################################################################
 # Compiler settings
 #
diff --git a/sw/airborne/arch/chibios/STM32F107xC_luftboot.ld b/sw/airborne/arch/chibios/STM32F107xC.ld
similarity index 94%
rename from sw/airborne/arch/chibios/STM32F107xC_luftboot.ld
rename to sw/airborne/arch/chibios/STM32F107xC.ld
index 50a135a284..7ec832c0ea 100644
--- a/sw/airborne/arch/chibios/STM32F107xC_luftboot.ld
+++ b/sw/airborne/arch/chibios/STM32F107xC.ld
@@ -1,85 +1,85 @@
-/*
-    ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
-
-    Licensed under the Apache License, Version 2.0 (the "License");
-    you may not use this file except in compliance with the License.
-    You may obtain a copy of the License at
-
-        http://www.apache.org/licenses/LICENSE-2.0
-
-    Unless required by applicable law or agreed to in writing, software
-    distributed under the License is distributed on an "AS IS" BASIS,
-    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-    See the License for the specific language governing permissions and
-    limitations under the License.
-*/
-
-/*
- * ST32F107xC memory setup.
- * with LUFTBOOT offset
- */
-MEMORY
-{
-    flash0  : org = 0x08002000, len = 256k
-    flash1  : org = 0x00000000, len = 0
-    flash2  : org = 0x00000000, len = 0
-    flash3  : org = 0x00000000, len = 0
-    flash4  : org = 0x00000000, len = 0
-    flash5  : org = 0x00000000, len = 0
-    flash6  : org = 0x00000000, len = 0
-    flash7  : org = 0x00000000, len = 0
-    ram0    : org = 0x20000000, len = 64k
-    ram1    : org = 0x00000000, len = 0
-    ram2    : org = 0x00000000, len = 0
-    ram3    : org = 0x00000000, len = 0
-    ram4    : org = 0x00000000, len = 0
-    ram5    : org = 0x00000000, len = 0
-    ram6    : org = 0x00000000, len = 0
-    ram7    : org = 0x00000000, len = 0
-}
-
-/* For each data/text section two region are defined, a virtual region
-   and a load region (_LMA suffix).*/
-
-/* Flash region to be used for exception vectors.*/
-REGION_ALIAS("VECTORS_FLASH", flash0);
-REGION_ALIAS("VECTORS_FLASH_LMA", flash0);
-
-/* Flash region to be used for constructors and destructors.*/
-REGION_ALIAS("XTORS_FLASH", flash0);
-REGION_ALIAS("XTORS_FLASH_LMA", flash0);
-
-/* Flash region to be used for code text.*/
-REGION_ALIAS("TEXT_FLASH", flash0);
-REGION_ALIAS("TEXT_FLASH_LMA", flash0);
-
-/* Flash region to be used for read only data.*/
-REGION_ALIAS("RODATA_FLASH", flash0);
-REGION_ALIAS("RODATA_FLASH_LMA", flash0);
-
-/* Flash region to be used for various.*/
-REGION_ALIAS("VARIOUS_FLASH", flash0);
-REGION_ALIAS("VARIOUS_FLASH_LMA", flash0);
-
-/* Flash region to be used for RAM(n) initialization data.*/
-REGION_ALIAS("RAM_INIT_FLASH_LMA", flash0);
-
-/* RAM region to be used for Main stack. This stack accommodates the processing
-   of all exceptions and interrupts.*/
-REGION_ALIAS("MAIN_STACK_RAM", ram0);
-
-/* RAM region to be used for the process stack. This is the stack used by
-   the main() function.*/
-REGION_ALIAS("PROCESS_STACK_RAM", ram0);
-
-/* RAM region to be used for data segment.*/
-REGION_ALIAS("DATA_RAM", ram0);
-REGION_ALIAS("DATA_RAM_LMA", flash0);
-
-/* RAM region to be used for BSS segment.*/
-REGION_ALIAS("BSS_RAM", ram0);
-
-/* RAM region to be used for the default heap.*/
-REGION_ALIAS("HEAP_RAM", ram0);
-
-INCLUDE rules.ld
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/*
+ * ST32F107xC memory setup.
+ */
+MEMORY
+{
+    flash0  : org = 0x08002000, len = 256k
+    flash1  : org = 0x00000000, len = 0
+    flash2  : org = 0x00000000, len = 0
+    flash3  : org = 0x00000000, len = 0
+    flash4  : org = 0x00000000, len = 0
+    flash5  : org = 0x00000000, len = 0
+    flash6  : org = 0x00000000, len = 0
+    flash7  : org = 0x00000000, len = 0
+    ram0    : org = 0x20000000, len = 64k
+    ram1    : org = 0x00000000, len = 0
+    ram2    : org = 0x00000000, len = 0
+    ram3    : org = 0x00000000, len = 0
+    ram4    : org = 0x00000000, len = 0
+    ram5    : org = 0x00000000, len = 0
+    ram6    : org = 0x00000000, len = 0
+    ram7    : org = 0x00000000, len = 0
+}
+
+/* For each data/text section two region are defined, a virtual region
+   and a load region (_LMA suffix).*/
+
+/* Flash region to be used for exception vectors.*/
+REGION_ALIAS("VECTORS_FLASH", flash0);
+REGION_ALIAS("VECTORS_FLASH_LMA", flash0);
+
+/* Flash region to be used for constructors and destructors.*/
+REGION_ALIAS("XTORS_FLASH", flash0);
+REGION_ALIAS("XTORS_FLASH_LMA", flash0);
+
+/* Flash region to be used for code text.*/
+REGION_ALIAS("TEXT_FLASH", flash0);
+REGION_ALIAS("TEXT_FLASH_LMA", flash0);
+
+/* Flash region to be used for read only data.*/
+REGION_ALIAS("RODATA_FLASH", flash0);
+REGION_ALIAS("RODATA_FLASH_LMA", flash0);
+
+/* Flash region to be used for various.*/
+REGION_ALIAS("VARIOUS_FLASH", flash0);
+REGION_ALIAS("VARIOUS_FLASH_LMA", flash0);
+
+/* Flash region to be used for RAM(n) initialization data.*/
+REGION_ALIAS("RAM_INIT_FLASH_LMA", flash0);
+
+/* RAM region to be used for Main stack. This stack accommodates the processing
+   of all exceptions and interrupts.*/
+REGION_ALIAS("MAIN_STACK_RAM", ram0);
+
+/* RAM region to be used for the process stack. This is the stack used by
+   the main() function.*/
+REGION_ALIAS("PROCESS_STACK_RAM", ram0);
+
+/* RAM region to be used for data segment.*/
+REGION_ALIAS("DATA_RAM", ram0);
+REGION_ALIAS("DATA_RAM_LMA", flash0);
+
+/* RAM region to be used for BSS segment.*/
+REGION_ALIAS("BSS_RAM", ram0);
+
+/* RAM region to be used for the default heap.*/
+REGION_ALIAS("HEAP_RAM", ram0);
+
+/* Generic rules inclusion.*/
+INCLUDE rules.ld
diff --git a/sw/airborne/arch/chibios/STM32F407xG.ld b/sw/airborne/arch/chibios/STM32F407xG.ld
new file mode 100644
index 0000000000..3a310c0358
--- /dev/null
+++ b/sw/airborne/arch/chibios/STM32F407xG.ld
@@ -0,0 +1,86 @@
+/*
+    ChibiOS - Copyright (C) 2006..2016 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+
+/*
+ * STM32F407xG memory setup.
+ * Note: Use of ram1 and ram2 is mutually exclusive with use of ram0.
+ */
+MEMORY
+{
+    flash0  : org = 0x08004000, len = 1M
+    flash1  : org = 0x00000000, len = 0
+    flash2  : org = 0x00000000, len = 0
+    flash3  : org = 0x00000000, len = 0
+    flash4  : org = 0x00000000, len = 0
+    flash5  : org = 0x00000000, len = 0
+    flash6  : org = 0x00000000, len = 0
+    flash7  : org = 0x00000000, len = 0
+    ram0    : org = 0x20000000, len = 128k      /* SRAM1 + SRAM2 */
+    ram1    : org = 0x20000000, len = 112k      /* SRAM1 */
+    ram2    : org = 0x2001C000, len = 16k       /* SRAM2 */
+    ram3    : org = 0x00000000, len = 0
+    ram4    : org = 0x10000000, len = 64k       /* CCM SRAM */
+    ram5    : org = 0x40024000, len = 4k        /* BCKP SRAM */
+    ram6    : org = 0x00000000, len = 0
+    ram7    : org = 0x00000000, len = 0
+}
+
+/* For each data/text section two region are defined, a virtual region
+   and a load region (_LMA suffix).*/
+
+/* Flash region to be used for exception vectors.*/
+REGION_ALIAS("VECTORS_FLASH", flash0);
+REGION_ALIAS("VECTORS_FLASH_LMA", flash0);
+
+/* Flash region to be used for constructors and destructors.*/
+REGION_ALIAS("XTORS_FLASH", flash0);
+REGION_ALIAS("XTORS_FLASH_LMA", flash0);
+
+/* Flash region to be used for code text.*/
+REGION_ALIAS("TEXT_FLASH", flash0);
+REGION_ALIAS("TEXT_FLASH_LMA", flash0);
+
+/* Flash region to be used for read only data.*/
+REGION_ALIAS("RODATA_FLASH", flash0);
+REGION_ALIAS("RODATA_FLASH_LMA", flash0);
+
+/* Flash region to be used for various.*/
+REGION_ALIAS("VARIOUS_FLASH", flash0);
+REGION_ALIAS("VARIOUS_FLASH_LMA", flash0);
+
+/* Flash region to be used for RAM(n) initialization data.*/
+REGION_ALIAS("RAM_INIT_FLASH_LMA", flash0);
+
+/* RAM region to be used for Main stack. This stack accommodates the processing
+   of all exceptions and interrupts.*/
+REGION_ALIAS("MAIN_STACK_RAM", ram0);
+
+/* RAM region to be used for the process stack. This is the stack used by
+   the main() function.*/
+REGION_ALIAS("PROCESS_STACK_RAM", ram0);
+
+/* RAM region to be used for data segment.*/
+REGION_ALIAS("DATA_RAM", ram0);
+REGION_ALIAS("DATA_RAM_LMA", flash0);
+
+/* RAM region to be used for BSS segment.*/
+REGION_ALIAS("BSS_RAM", ram0);
+
+/* RAM region to be used for the default heap.*/
+REGION_ALIAS("HEAP_RAM", ram0);
+
+/* Generic rules inclusion.*/
+INCLUDE rules.ld