diff --git a/ROMFS/px4fmu_common/init.d-posix/1060_rover b/ROMFS/px4fmu_common/init.d-posix/1060_rover
index 60fe3a0764..7441618b05 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1060_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/1060_rover
@@ -34,4 +34,4 @@ fi
 
 set MAV_TYPE 10
 
-set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix
+set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
diff --git a/ROMFS/px4fmu_common/init.d-posix/1061_r1_rover b/ROMFS/px4fmu_common/init.d-posix/1061_r1_rover
index 707deca2fb..ccf43621f5 100644
--- a/ROMFS/px4fmu_common/init.d-posix/1061_r1_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/1061_r1_rover
@@ -35,4 +35,4 @@ fi
 
 set MAV_TYPE 10
 
-set MIXER_FILE etc/mixers/generic_diff_rover.main.mix
+set MIXER_FILE etc/mixers-sitl/rover_diff_sitl.main.mix
diff --git a/ROMFS/px4fmu_common/init.d-posix/1061_tf-r1 b/ROMFS/px4fmu_common/init.d-posix/1061_tf-r1
deleted file mode 100644
index 1de142b811..0000000000
--- a/ROMFS/px4fmu_common/init.d-posix/1061_tf-r1
+++ /dev/null
@@ -1,43 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-R1 UAV Rover
-# @type Rover
-# @class Rover
-#
-# @url https://github.com/ThunderFly-aerospace/TF-R1/
-# @maintainer ThunderFly s.r.o.
-#
-
-sh /etc/init.d/rc.rover_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set GND_L1_DIST 5
-	param set GND_SP_CTRL_MODE 1
-	param set GND_SPEED_D 3
-	param set GND_SPEED_I 0.001
-	param set GND_SPEED_IMAX 0.125
-	param set GND_SPEED_P 0.25
-	param set GND_SPEED_THR_SC 1
-	param set GND_SPEED_TRIM 15
-	param set GND_SPEED_MAX 25
-	param set GND_THR_CRUISE 0.3
-	param set GND_THR_IDLE 0
-	param set GND_THR_MAX 0.5
-	param set GND_THR_MIN 0
-
-	param set MIS_LTRMIN_ALT 0.01
-	param set MIS_TAKEOFF_ALT 0.01
-	param set NAV_ACC_RAD 0.5
-	param set NAV_LOITER_RAD 2
-
-	param set CBRK_AIRSPD_CHK 162128
-
-	param set GND_MAX_ANG 0.6
-	param set GND_WHEEL_BASE 3.0
-
-fi
-
-set MAV_TYPE 10
-
-set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix
diff --git a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
index 85f1e6613a..18d536981b 100644
--- a/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/mixers-sitl/CMakeLists.txt
@@ -34,7 +34,8 @@
 px4_add_romfs_files(
 	delta_wing_sitl.main.mix
 	plane_sitl.main.mix
-	rover_sitl.main.mix
+	rover_ackermann_sitl.main.mix
+	rover_diff_sitl.main.mix
 	standard_vtol_sitl.main.mix
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
diff --git a/ROMFS/px4fmu_common/mixers-sitl/rover_ackermann_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/rover_ackermann_sitl.main.mix
new file mode 100644
index 0000000000..0a265d9059
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -0,0 +1,46 @@
+Mixer for SITL rover
+=========================================================
+
+Output 0
+---------------------------------------
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 2   10000   10000      0 -10000  10000
+
+Output 1
+---------------------------------------
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 2   10000   10000      0 -10000  10000
+
+Output 2
+---------------------------------------
+Z:
+
+Output 3
+---------------------------------------
+Z:
+
+Output 4
+---------------------------------------
+Z:
+
+Output 5
+---------------------------------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
+
+Output 6
+---------------------------------------
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
+
+Output 7
+---------------------------------------
+Z:
+
+Output 8
+---------------------------------------
+Z:
\ No newline at end of file
diff --git a/ROMFS/px4fmu_common/mixers-sitl/rover_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/rover_diff_sitl.main.mix
similarity index 100%
rename from ROMFS/px4fmu_common/mixers-sitl/rover_sitl.main.mix
rename to ROMFS/px4fmu_common/mixers-sitl/rover_diff_sitl.main.mix