diff --git a/ROMFS/px4fmu_common/init.d/airframes/22003_asl_believer b/ROMFS/px4fmu_common/init.d/airframes/22003_asl_believer
new file mode 100644
index 0000000000..8d898bb838
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/airframes/22003_asl_believer
@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name Autonomous Systems Lab, ETH Zurich Believer
+#
+# @type Plane V-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Jaeyoung Lim <jalim@ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 20
+
+param set-default FW_MAN_P_MAX 55
+param set-default FW_MAN_R_MAX 55
+param set-default FW_R_LIM 55
+
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
+
+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1000
+
+# The Mini Talon does not have a wheel and
+# no flaps. I leave them here because the mixer
+# computes also wheel and flap controls.
+set MIXER AAVVTWFF_vtail
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
index 10fcab755e..65e9f48b33 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -161,6 +161,7 @@ px4_add_romfs_files(
 	22000_asl_easyglider
 	22001_asl_techpod
 	22002_asl_sensesoar2
+	22003_asl_believer
 
 	24001_dodeca_cox