diff --git a/ROMFS/px4fmu_common/init.d/airframes/50004_dfrobot_gpx_asurada b/ROMFS/px4fmu_common/init.d/airframes/50004_dfrobot_gpx_asurada
index ae16f7dfb9..6f6d0724af 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50004_dfrobot_gpx_asurada
+++ b/ROMFS/px4fmu_common/init.d/airframes/50004_dfrobot_gpx_asurada
@@ -37,11 +37,9 @@ then
 	param set GND_THR_CRUISE 0
 	param set GND_THR_MAX 0.5
 
-	# Because this is differential drive, it can make a turn with radius 0.
-	# This corresponds to a turn angle of pi radians.
-	# If a special case is made for differential-drive, this will need to change.
-	param set GND_MAX_ANG 3.142
-	param set GND_WHEEL_BASE 0.3
+	# Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
+	param set GND_MAX_ANG 1.042
+	param set GND_WHEEL_BASE 0.17
 
 	# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
 	# to support negative throttle.
@@ -71,9 +69,6 @@ then
 	# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 	param set CBRK_AIRSPD_CHK 162128
 
-	# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
-	param set GND_MAX_ANG 3.1415
-
 fi
 
 # Configure this as rover
diff --git a/ROMFS/px4fmu_common/mixers/rover_diff_and_servo.main.mix b/ROMFS/px4fmu_common/mixers/rover_diff_and_servo.main.mix
index 9277def8da..c6c8dcbe92 100644
--- a/ROMFS/px4fmu_common/mixers/rover_diff_and_servo.main.mix
+++ b/ROMFS/px4fmu_common/mixers/rover_diff_and_servo.main.mix
@@ -20,18 +20,18 @@ Z:
 Steering mixer using roll on output 1
 ------------------------------------------
 M: 1
-S: 0 0  10000   10000     0 -10000  10000
+S: 0 2  10000   10000     0 -10000  10000
 
 
 Output 2
 ------------------------------------------
 M: 2
-S: 0 0   -500   -500      0      0  10000
+S: 0 2   -500   -500      0      0  10000
 S: 0 3  10000  10000      0 -10000  10000
 
 
 Output 3
 ------------------------------------------
 M: 2
-S: 0 0    500    500      0      0  10000
+S: 0 2    500    500      0      0  10000
 S: 0 3  10000  10000      0 -10000  10000