diff --git a/ROMFS/px4fmu_common/init.d-posix/1061_r1_rover b/ROMFS/px4fmu_common/init.d-posix/1061_r1_rover
new file mode 100644
index 0000000000..a970a98740
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1061_r1_rover
@@ -0,0 +1,38 @@
+!/bin/sh
+#
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+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 4
+	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 2.0
+
+fi
+
+set MAV_TYPE 10
+
+set MIXER_FILE etc/mixers/generic_diff_rover.main.mix
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index 80aa0a3f1f..596d47869c 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -79,7 +79,7 @@ set(models none shell
 	if750a iris iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps px4vision solo typhoon_h480
 	plane plane_cam plane_catapult plane_lidar
 	standard_vtol tailsitter tiltrotor
-	rover boat
+	rover r1_rover boat
 	uuv_hippocampus)
 set(worlds none empty baylands ksql_airport mcmillan_airfield sonoma_raceway warehouse)
 set(all_posix_vmd_make_targets)