diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential b/ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential
index 270c01c55b..c9e47be70e 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/50000_gz_rover_differential
@@ -17,6 +17,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default RD_WHEEL_TRACK 0.6
 param set-default RD_TRANS_DRV_TRN 0.785398
 param set-default RD_TRANS_TRN_DRV 0.174533
+param set-default RD_YAW_STK_GAIN 0.6
 
 # Rate Control Parameters
 param set-default RO_YAW_RATE_I 0.01
@@ -25,6 +26,8 @@ param set-default RO_YAW_RATE_LIM 250
 param set-default RO_YAW_ACCEL_LIM 400
 param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
 # Attitude Control Parameters
 param set-default RO_YAW_P 5
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann b/ROMFS/px4fmu_common/init.d-posix/airframes/51000_gz_rover_ackermann
similarity index 63%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
rename to ROMFS/px4fmu_common/init.d-posix/airframes/51000_gz_rover_ackermann
index 28025d79ac..96bb10862b 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/51000_gz_rover_ackermann
@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Rover Ackermann
+# @name Generic Ackermann Rover
 # @type Rover
 # @class Rover
 
@@ -14,30 +14,32 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default NAV_ACC_RAD 0.5
 
 # Ackermann Parameters
-param set-default RA_WHEEL_BASE 0.321
+param set-default RA_WHEEL_BASE 0.5
 param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
+param set-default RA_ACC_RAD_MAX 1.5
 param set-default RA_MAX_STR_ANG 0.5236
 param set-default RA_STR_RATE_LIM 360
 
-# Rover Control Parameters
-param set-default RO_ACCEL_LIM 3
-param set-default RO_DECEL_LIM 6
-param set-default RO_JERK_LIM 15
-param set-default RO_MAX_THR_SPEED 3.1
-
-# Rover Rate Control Parameters
-param set-default RO_YAW_RATE_I 0.1
-param set-default RO_YAW_RATE_P 1
-param set-default RO_YAW_RATE_LIM 180
+# Rate Control Parameters
+param set-default RO_YAW_RATE_I 0.01
+param set-default RO_YAW_RATE_P 0.25
+param set-default RO_YAW_RATE_LIM 130
+param set-default RO_YAW_ACCEL_LIM 800
+param set-default RO_YAW_DECEL_LIM 800
 param set-default RO_YAW_RATE_CORR 1
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
-# Rover Attitude Control Parameters
+# Attitude Control Parameters
 param set-default RO_YAW_P 3
 
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 3
-param set-default RO_SPEED_I 0.1
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
 param set-default RO_SPEED_P 1
 param set-default RO_SPEED_RED 1
 
@@ -48,8 +50,8 @@ param set-default PP_LOOKAHD_MIN 1
 
 # Wheels
 param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_MIN1 70
+param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
 # Steering
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum b/ROMFS/px4fmu_common/init.d-posix/airframes/52000_gz_rover_mecanum
similarity index 64%
rename from ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum
rename to ROMFS/px4fmu_common/init.d-posix/airframes/52000_gz_rover_mecanum
index 5d96694e83..c882924bda 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/52000_gz_rover_mecanum
@@ -1,5 +1,5 @@
 #!/bin/sh
-# @name Aion Robotics R1 Rover
+# @name Generic Mecanum Rover
 # @type Rover
 # @class Rover
 
@@ -7,14 +7,15 @@
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_mecanum}
 
 param set-default SIM_GZ_EN 1 # Gazebo bridge
 
 param set-default NAV_ACC_RAD 0.5
 
 # Mecanum Parameters
-param set-default RM_WHEEL_TRACK 0.3
+param set-default RM_WHEEL_TRACK 0.6
+param set-default RM_YAW_STK_GAIN 0.6
 
 # Rover Control Parameters
 param set-default RO_ACCEL_LIM 3
@@ -29,15 +30,21 @@ param set-default RO_YAW_RATE_LIM 120
 param set-default RO_YAW_ACCEL_LIM 240
 param set-default RO_YAW_DECEL_LIM 1000
 param set-default RO_YAW_RATE_CORR 1.75
+param set-default RO_YAW_EXPO 0.85
+param set-default RO_YAW_SUPEXPO 0.3
 
 # Rover Attitude Control Parameters
 param set-default RO_YAW_P 5
 
-# Rover Velocity Control Parameters
-param set-default RO_SPEED_LIM 2
-param set-default RO_SPEED_I 0.5
-param set-default RO_SPEED_P 1
-param set-default RO_SPEED_RED 1
+# Velocity Control Parameters
+param set-default RO_ACCEL_LIM 4
+param set-default RO_DECEL_LIM 6
+param set-default RO_JERK_LIM 10
+param set-default RO_MAX_THR_SPEED 3.1
+param set-default RO_SPEED_LIM 2.5
+param set-default RO_SPEED_I 0.01
+param set-default RO_SPEED_P 0.1
+param set-default RO_SPEED_RED 0.5
 
 # Pure Pursuit parameters
 param set-default PP_LOOKAHD_GAIN 0.5
@@ -48,24 +55,24 @@ param set-default PP_LOOKAHD_MIN 1
 param set-default SENS_EN_MAGSIM 1
 
 # Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
+param set-default SIM_GZ_WH_FUNC1 104 # left wheel back
 param set-default SIM_GZ_WH_MIN1 70
 param set-default SIM_GZ_WH_MAX1 130
 param set-default SIM_GZ_WH_DIS1 100
 
-param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
+param set-default SIM_GZ_WH_FUNC2 103 # right wheel back
 param set-default SIM_GZ_WH_MIN2 70
 param set-default SIM_GZ_WH_MAX2 130
 param set-default SIM_GZ_WH_DIS2 100
 
-param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
+param set-default SIM_GZ_WH_FUNC3 102 # left wheel front
 param set-default SIM_GZ_WH_MIN3 70
 param set-default SIM_GZ_WH_MAX3 130
 param set-default SIM_GZ_WH_DIS3 100
 
-param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
+param set-default SIM_GZ_WH_FUNC4 101 # right wheel front
 param set-default SIM_GZ_WH_MIN4 70
 param set-default SIM_GZ_WH_MAX4 130
 param set-default SIM_GZ_WH_DIS4 100
 
-param set-default SIM_GZ_WH_REV 10
+param set-default SIM_GZ_WH_REV 0
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index b068b14aa1..4cf43413f6 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -80,10 +80,8 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
-	4012_gz_rover_ackermann
 	4013_gz_x500_lidar_2d
 	4014_gz_x500_mono_cam_down
-	4015_gz_r1_rover_mecanum
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
@@ -114,6 +112,8 @@ px4_add_romfs_files(
 	17002_flightgear_tf-g2
 
 	50000_gz_rover_differential
+	51000_gz_rover_ackermann
+	52000_gz_rover_mecanum
 
 	60002_gz_uuv_bluerov2_heavy