Retribution Falls by Chris Wooding (awesome steampunk series for fans of Firefly)

Retribution Falls is the first in a series of 4 books called Tales of the Ketty Jay. The entire series is awesome and I highly recommend all of it.

If you've ever seen the TV show Firefly, the best explanation of the Ketty Jay series is "steampunk Firefly". It's a "found family" crew who are all running away from something and have found a home on the airship Ketty Jay, where they do whatever odd jobs they can to keep flying. The book starts with them accidentally killing the prince and now they're being hunted by an entire kingdom while trying to clear their name. It's a fun ride.