diff --git a/ROMFS/sitl/mixers/rover_sitl.main.mix b/ROMFS/sitl/mixers/rover_sitl.main.mix
new file mode 100644
index 0000000000..8895aee3a7
--- /dev/null
+++ b/ROMFS/sitl/mixers/rover_sitl.main.mix
@@ -0,0 +1,37 @@
+Mixer for SITL rover
+=========================================================
+
+# mixer for the rudder
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 0   10000   10000    0 -10000  10000
+
+# mixer for the rudder
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 0   10000   10000    0 -10000  10000
+
+# mixer for the elevator
+M: 1
+O:       10000   10000   0 -10000  10000
+S: 0 1   10000   10000    0 -10000  10000
+
+# mixer for throttle
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+# mixer for throttle
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+# mixer for throttle
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+# mixer for throttle
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
diff --git a/cmake/configs/posix_sitl_default.cmake b/cmake/configs/posix_sitl_default.cmake
index 7b7db5ca51..84d1bb80fd 100644
--- a/cmake/configs/posix_sitl_default.cmake
+++ b/cmake/configs/posix_sitl_default.cmake
@@ -33,7 +33,7 @@ set(config_module_list
 	#systemcmds/nshterm
 	systemcmds/param
 	systemcmds/perf
-	#systemcmds/pwm
+	systemcmds/pwm
 	systemcmds/reboot
 	systemcmds/sd_bench
 	systemcmds/top
diff --git a/posix-configs/SITL/init/ekf2/rover b/posix-configs/SITL/init/ekf2/rover
new file mode 100644
index 0000000000..a0a72d9446
--- /dev/null
+++ b/posix-configs/SITL/init/ekf2/rover
@@ -0,0 +1,67 @@
+uorb start
+param load
+param set MAV_TYPE 1
+param set SYS_AUTOSTART 3033
+param set SYS_RESTART_TYPE 2
+param set SYS_MC_EST_GROUP 2
+dataman start
+param set BAT_N_CELLS 3
+param set CAL_GYRO0_ID 2293768
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC1_ID 1310728
+param set CAL_MAG0_ID 196616
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
+param set SENS_BOARD_ROT 0
+param set SENS_DPRES_OFF 0.001
+param set SENS_BOARD_X_OFF 0.000001
+param set COM_RC_IN_MODE 1
+param set NAV_DLL_ACT 2
+param set NAV_ACC_RAD 15.0
+param set NAV_LOITER_RAD 50
+param set MIS_LTRMIN_ALT 30
+param set MIS_TAKEOFF_ALT 30
+param set FW_THR_IDLE 0.8
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+param set EKF2_MAG_TYPE 1
+replay tryapplyparams
+simulator start -s
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+measairspeedsim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+navigator start
+ekf2 start
+fw_pos_control_l1 start
+fw_att_control start
+land_detector start rover
+mixer load /dev/pwm_output0 ROMFS/sitl/mixers/rover_sitl.main.mix
+mavlink start -u 14556 -r 2000000
+mavlink start -u 14557 -r 2000000 -m onboard -o 14540
+mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 80 -s ATTITUDE -u 14556
+mavlink stream -r 80 -s ATTITUDE_QUATERNION -u 14556
+mavlink stream -r 80 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+sdlog2 start -r 200 -e -t -a
+mavlink boot_complete
+replay trystart
diff --git a/src/firmware/posix/sitl_target.cmake b/src/firmware/posix/sitl_target.cmake
index 2aea00aa4d..7707fbc991 100644
--- a/src/firmware/posix/sitl_target.cmake
+++ b/src/firmware/posix/sitl_target.cmake
@@ -74,7 +74,7 @@ ExternalProject_Add_Step(sitl_gazebo forceconfigure
 # create targets for each viewer/model/debugger combination
 set(viewers none jmavsim gazebo replay)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
-set(models none iris iris_opt_flow standard_vtol plane solo tailsitter typhoon_h480)
+set(models none iris iris_opt_flow standard_vtol plane solo tailsitter typhoon_h480 rover)
 set(all_posix_vmd_make_targets)
 foreach(viewer ${viewers})
 	foreach(debugger ${debuggers})