diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
index e87e013e5d77..bfecc1a0ca87 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
@@ -11,14 +11,13 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
 
 param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
 
 param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
-
-
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
index 39f5f8f3e25d..9841c988c614 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
@@ -12,9 +12,10 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
 
 param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
 
 param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x b/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x
new file mode 100644
index 000000000000..708253259623
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x
@@ -0,0 +1,71 @@
+#!/bin/sh
+#
+# @name Gazebo x500
+#
+# @type Quadrotor x
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=holybro-x500}
+
+param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.175
+param set-default CA_ROTOR0_PY 0.175
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.175
+param set-default CA_ROTOR1_PY -0.175
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.175
+param set-default CA_ROTOR2_PY -0.175
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.175
+param set-default CA_ROTOR3_PY 0.175
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150
+
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60
+
+# extra
+param set COM_RCL_EXCEPT 4
+param set NAV_DLL_ACT 0
+param set NAV_RCL_ACT 0
+param set MAV_0_BROADCAST 1
+param set IMU_GYRO_CUTOFF 60
+param set IMU_DGYRO_CUTOFF 30
+param set MC_ROLLRATE_P 0.14
+param set MC_PITCHRATE_P 0.14
+param set MC_ROLLRATE_I 0.3
+param set MC_PITCHRATE_I 0.3
+param set MC_ROLLRATE_D 0.004
+param set MC_PITCHRATE_D 0.004
+param set BAT_N_CELLS 4
+param set SDLOG_MODE 0
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8
new file mode 100644
index 000000000000..d2ede5ef2686
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8
@@ -0,0 +1,95 @@
+#!/bin/sh
+#
+# @name SSRC Skywalker X8
+#
+# @type Flying Wing
+# @class Plane
+#
+
+. /etc/init.d/rc.fw_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=skywalker_x8}
+
+param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+# Control allocator parameters
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_R 0.5
+
+# GZ SIM
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MAX1 1000
+
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
+
+# Airspeed parameters
+param set-default ASPD_PRIMARY 1
+# param set-default FW_AIRSPD_MAX 22.0
+# param set-default FW_AIRSPD_MIN 14.0
+# param set-default FW_AIRSPD_STALL 12.0
+# param set-default FW_AIRSPD_TRIM 18.0
+
+# Maximum landing slope angle in deg
+param set-default FW_LND_ANG 8
+
+# RC loss failsafe to HOLD mode
+param set-default COM_RC_IN_MODE 1
+
+# Fixed wing control
+# Pitch rate
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+# Pitch angle in deg
+param set-default FW_PSP_OFF 0
+param set-default FW_P_LIM_MIN -15
+# Roll rate
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+# Yaw rate
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+# Throttle limit
+# param set-default FW_THR_MAX 0.6
+# param set-default FW_THR_MIN 0.05
+# param set-default FW_THR_TRIM 0.25
+# Climb and sink rate
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+# Navigation
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+# Misc
+param set-default MIS_TAKEOFF_ALT 30.0
+param set-default RTL_RETURN_ALT 30.0
+
+# Disable internal magnetometer
+param set CAL_MAG0_PRIO 0
+
+# Catapult launch with acc threshold trigger
+param set-default FW_LAUN_DETCN_ON 1
+param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
+param set-default FW_LAUN_AC_THLD 10
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover
new file mode 100644
index 000000000000..37689eeb9e8e
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover
@@ -0,0 +1,77 @@
+#!/bin/sh
+#
+# @name SSRC SCOUT MINI UGV
+#
+# @url https://global.agilex.ai/products/scout-mini
+#
+# @type Rover
+# @class Rover
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=scout_mini}
+
+param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
+
+param set-default CA_AIRFRAME 6
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+param set IMU_GYRO_CUTOFF 60
+param set IMU_DGYRO_CUTOFF 30
+
+param set-default SYS_HAS_BARO 0
+
+param set-default BAT1_N_CELLS 4
+
+param set-default MIS_TAKEOFF_ALT 0.01
+
+param set-default NAV_ACC_RAD 0.5     # reached when within 0.5m of waypoint
+
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+# EKF2
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
+param set-default EKF2_REQ_SACC 1.0
+param set-default EKF2_REQ_VDRIFT 0.4
+param set-default EKF2_REQ_HDRIFT 0.2
+
+
+#################################
+# Rover Position Control Module #
+#################################
+
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 3
+param set-default GND_THR_CRUISE 1
+param set-default GND_THR_MAX 1
+
+# 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-default GND_MAX_ANG 3.142
+param set-default GND_WHEEL_BASE 0.45
+
+# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# to support negative throttle.
+param set-default GND_THR_MIN 0
+param set-default GND_SPEED_P 0.4
+param set-default GND_SPEED_I 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_MAX 3.0
+param set-default GND_SPEED_TRIM 3.0
+param set-default GND_SPEED_THR_SC 1.0
+param set-default GND_VEL_CTRL 1
+param set-default GND_ANG_VEL_CTRL 1
+param set-default GND_ACC_LIMIT 10
+param set-default GND_DEC_LIMIT 50
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
index a588010d1f2e..ed2d57ae77bc 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -79,6 +79,9 @@ px4_add_romfs_files(
 	4004_gz_standard_vtol
 	4005_gz_x500_vision
 	4006_gz_px4vision
+	4401_gz_ssrc_fog_x
+	4440_gz_ssrc_skywalker_x8
+	50005_gz_ssrc_scout_mini_rover
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
index 1f4693d4c1b3..e5e2ab5f1441 100644
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@@ -38,44 +38,50 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 
 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
 
-	# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
-	if [ -f ./gz_env.sh ]; then
-		. ./gz_env.sh
+	# allow starting of gz sim optionally
+	if [ "$(param show -q SIM_GZ_RUN_GZSIM)" -eq "1" ];
+	then
+		# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
+		if [ -f ./gz_env.sh ]; then
+			. ./gz_env.sh
 
-	elif [ -f ../gz_env.sh ]; then
-		. ../gz_env.sh
-	fi
+		elif [ -f ../gz_env.sh ]; then
+			. ../gz_env.sh
+		fi
 
-	# "gz sim" only avaiilable in Garden and later
-	GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
-	if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
-	then
-		# "gz sim" from Garden on
-		gz_command="gz"
-		gz_sub_command="sim"
-	else
-		echo "ERROR [init] Gazebo gz please install gz-garden"
-		exit 1
-	fi
+		# "gz sim" only avaiilable in Garden and later
+		GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
+		if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
+		then
+			# "gz sim" from Garden on
+			gz_command="gz"
+			gz_sub_command="sim"
+		else
+			echo "ERROR [init] Gazebo gz please install gz-garden"
+			exit 1
+		fi
 
-	# look for running ${gz_command} gazebo world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+		# look for running ${gz_command} gazebo world
+		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
 
-	# shellcheck disable=SC2153
-	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
+		# shellcheck disable=SC2153
+		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
 
-		echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
+			echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
 
-		${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+			${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
 
-		if [ -z "${HEADLESS}" ]; then
-			# HEADLESS not set, starting gui
-			${gz_command} ${gz_sub_command} -g &
-		fi
+			if [ -z "${HEADLESS}" ]; then
+				# HEADLESS not set, starting gui
+				${gz_command} ${gz_sub_command} -g &
+			fi
 
+		else
+			echo "INFO  [init] gazebo already running world: ${gz_world}"
+			PX4_GZ_WORLD=${gz_world}
+		fi
 	else
-		echo "INFO  [init] gazebo already running world: ${gz_world}"
-		PX4_GZ_WORLD=${gz_world}
+		echo "INFO  [init] gazebo run disabled"
 	fi
 
 	# start gz_bridge
@@ -116,6 +122,43 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 			exit 1
 		fi
 
+	elif [ -n "${PX4_GZ_MODEL}" ] && [ -n "${PX4_GZ_MODEL_NAME}" ]; then
+		# model type and name specified, gz_bridge will spawn model with name
+
+		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+			# Clean potential input line formatting.
+			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+
+		else
+			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			model_pose="0,0,0,0,0,0"
+		fi
+
+		# start gz bridge with pose arg.
+		if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+			if param compare -s SENS_EN_BAROSIM 1
+			then
+				sensor_baro_sim start
+			fi
+			if param compare -s SENS_EN_GPSSIM 1
+			then
+				sensor_gps_sim start
+			fi
+			if param compare -s SENS_EN_MAGSIM 1
+			then
+				sensor_mag_sim start
+			fi
+			if param compare -s SENS_EN_ARSPDSIM 1
+			then
+				sensor_airspeed_sim start
+			fi
+
+		else
+			echo "ERROR [init] gz_bridge failed to start"
+			exit 1
+		fi
+
 	elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
 		# model name specificed, gz_bridge will attach to existing model
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50005_ssrc_scout_mini_rover b/ROMFS/px4fmu_common/init.d/airframes/50005_ssrc_scout_mini_rover
index f3894e439fd3..f0ebcf96f368 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50005_ssrc_scout_mini_rover
+++ b/ROMFS/px4fmu_common/init.d/airframes/50005_ssrc_scout_mini_rover
@@ -15,8 +15,7 @@
 
 # Rover interface
 param set-default RI_ROVER_TYPE 0
-param set-default RI_MAN_THR_MAX 1.0
-param set-default RI_MIS_THR_MAX 1.0
+param set-default RI_MAN_SPD_SC 1.0
 
 # Battery setting
 param set-default BAT1_N_CELLS 7
@@ -54,9 +53,13 @@ param set-default GND_THR_MIN 0
 param set-default GND_SPEED_P 0.4
 param set-default GND_SPEED_I 1
 param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_IMAX 1
-param set-default GND_SPEED_MAX 1
-param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_MAX 3.0
+param set-default GND_SPEED_TRIM 3.0
+param set-default GND_SPEED_THR_SC 1.0
+param set-default GND_VEL_CTRL 1
+param set-default GND_ANG_VEL_CTRL 1
+param set-default GND_ACC_LIMIT 10
+param set-default GND_DEC_LIMIT 50
 
 param set-default MIS_TAKEOFF_ALT 0.01
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50006_ssrc_bunker_rover b/ROMFS/px4fmu_common/init.d/airframes/50006_ssrc_bunker_rover
index c1fe66c5143d..cfce96cc0ab4 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/50006_ssrc_bunker_rover
+++ b/ROMFS/px4fmu_common/init.d/airframes/50006_ssrc_bunker_rover
@@ -2,7 +2,7 @@
 #
 # @name SSRC BUNKER UGV
 #
-# @url https://global.agilex.ai/products/bunker
+# @url https://global.agilex.ai/chassis/4
 #
 # @type Rover
 # @class Rover
@@ -15,8 +15,7 @@
 
 # Rover interface
 param set-default RI_ROVER_TYPE 5
-param set-default RI_MAN_THR_MAX 1.5
-param set-default RI_MIS_THR_MAX 1.0
+param set-default RI_MAN_SPD_SC 1.0
 
 # Battery setting
 param set-default BAT1_N_CELLS 14
@@ -54,9 +53,13 @@ param set-default GND_THR_MIN 0
 param set-default GND_SPEED_P 0.4
 param set-default GND_SPEED_I 1
 param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_IMAX 1
-param set-default GND_SPEED_MAX 1
-param set-default GND_SPEED_THR_SC 1
+param set-default GND_SPEED_MAX 1.5
+param set-default GND_SPEED_TRIM 1.5
+param set-default GND_SPEED_THR_SC 1.0
+param set-default GND_VEL_CTRL 1
+param set-default GND_ANG_VEL_CTRL 1
+param set-default GND_ACC_LIMIT 10
+param set-default GND_DEC_LIMIT 50
 
 param set-default MIS_TAKEOFF_ALT 0.01
 
diff --git a/ROMFS/px4fmu_common/init.d/airframes/50007_ssrc_bunker_mini_rover b/ROMFS/px4fmu_common/init.d/airframes/50007_ssrc_bunker_mini_rover
new file mode 100644
index 000000000000..2005a6f961a5
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/airframes/50007_ssrc_bunker_mini_rover
@@ -0,0 +1,103 @@
+#!/bin/sh
+#
+# @name SSRC BUNKER UGV
+#
+# @url https://global.agilex.ai/chassis/5
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+# Rover interface
+param set-default RI_ROVER_TYPE 6
+param set-default RI_MAN_SPD_SC 1.0
+
+# Battery setting
+param set-default BAT1_N_CELLS 14
+param set-default BAT1_V_EMPTY 3.3
+param set-default BAT1_V_CHARGED 4.2
+
+# EKF2
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
+param set-default EKF2_REQ_SACC 1.0
+param set-default EKF2_REQ_VDRIFT 0.4
+param set-default EKF2_REQ_HDRIFT 0.2
+
+
+param set-default FW_AIRSPD_MIN 0
+param set-default FW_AIRSPD_TRIM 1
+param set-default FW_AIRSPD_MAX 3
+
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 3
+param set-default GND_THR_CRUISE 1
+param set-default GND_THR_MAX 1
+
+# 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-default GND_MAX_ANG 3.142
+param set-default GND_WHEEL_BASE 0.584
+
+# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# to support negative throttle.
+param set-default GND_THR_MIN 0
+param set-default GND_SPEED_P 0.4
+param set-default GND_SPEED_I 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_MAX 1.5
+param set-default GND_SPEED_TRIM 1.5
+param set-default GND_SPEED_THR_SC 1.0
+param set-default GND_VEL_CTRL 1
+param set-default GND_ANG_VEL_CTRL 1
+param set-default GND_ACC_LIMIT 10
+param set-default GND_DEC_LIMIT 50
+
+param set-default MIS_TAKEOFF_ALT 0.01
+
+param set-default NAV_ACC_RAD 0.5     # reached when within 0.5m of waypoint
+
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+# Set geometry & output configration. This is just the place holder for rover type. We dont actually use control allocation for scout mini.
+param set-default CA_AIRFRAME 6
+
+# Disable UAVCAN since rover use rover_interface module instead
+param set UAVCAN_ENABLE 0
+
+
+###### ROVER/DRONE COMMON PARAMS ######
+# Disable internal magnetometer
+param set-default CAL_MAG0_PRIO 0
+
+# LEDs on TELEMETRY 1
+param set-default SER_TEL1_BAUD 57600
+param set-default MAV_1_CONFIG 101
+param set-default MAV_1_MODE 7
+param set-default MAV_1_RATE 1000
+
+# Disable MAV_0 and MAV_2
+param set-default MAV_0_CONFIG 0
+param set-default MAV_2_CONFIG 0
+
+# Enable safety switch
+param set-default CBRK_IO_SAFETY 0
+
+# Enable satellite info by default
+param set-default GPS_SAT_INFO 1
+
+# Set sticks movement not to switch to RC, we use mode switch for this
+param set-default COM_RC_OVERRIDE 0
+
+# Set default logfile encryption key indecies
+param set-default SDLOG_EXCH_KEY 2
+param set-default SDLOG_KEY 3
diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
index 524709d081d9..11425887ba24 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@@ -125,6 +125,7 @@ px4_add_romfs_files(
 	50003_aion_robotics_r1_rover
 	50005_ssrc_scout_mini_rover
 	50006_ssrc_bunker_rover
+	50007_ssrc_bunker_mini_rover
 
 	# [60000, 61000] (Unmanned) Underwater Robots
 	60000_uuv_generic
diff --git a/packaging/Dockerfile.sitl_gzsim b/packaging/Dockerfile.sitl_gzsim
new file mode 100644
index 000000000000..f0944e534919
--- /dev/null
+++ b/packaging/Dockerfile.sitl_gzsim
@@ -0,0 +1,76 @@
+FROM docker.io/ros:humble-ros-base as builder
+
+# Install git for pulling the base repository
+RUN apt update
+RUN apt install -y \
+	git \
+	curl \
+	lsb-release \
+	gnupg
+
+RUN curl http://packages.osrfoundation.org/gazebo.key | apt-key add -
+RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+
+# Install build dependencies
+RUN apt update
+RUN DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC apt install -y \
+	libgz-transport12 \
+	libgz-transport12-dev \
+	astyle \
+	build-essential \
+	cmake \
+	cppcheck \
+	file \
+	g++ \
+	gcc \
+	gdb \
+	git \
+	lcov \
+	libfuse2 \
+	libxml2-dev \
+	libxml2-utils \
+	make \
+	ninja-build \
+	python3 \
+	python3-dev \
+	python3-pip \
+	python3-setuptools \
+	python3-wheel \
+	rsync \
+	shellcheck \
+	unzip \
+	ros-humble-fastrtps \
+	ros-humble-rmw-fastrtps-cpp \
+	fastddsgen
+
+# Checkout the px4 version and build it
+RUN git clone https://github.com/tiiuae/px4-firmware
+RUN python3 -m pip install -r px4-firmware/Tools/setup/requirements.txt
+COPY build_px4_sitl_gzsim.sh ./build.sh
+RUN ./build.sh
+
+#  ▲               runtime ──┐
+#  └── build                 ▼
+
+FROM docker.io/ros:humble-ros-base
+
+RUN apt update
+RUN apt install -y \
+	curl \
+	lsb-release \
+	gnupg \
+	ros-humble-fastrtps \
+	ros-humble-rmw-fastrtps-cpp
+
+RUN curl http://packages.osrfoundation.org/gazebo.key | apt-key add -
+RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+
+RUN apt update
+RUN DEBIAN_FRONTEND=noninteractive TZ=Etc/UTC apt install -y libgz-transport12 dnsutils
+
+WORKDIR /px4_sitl
+
+COPY --from=builder /px4-firmware/build/px4_sitl_default /px4_sitl
+COPY ./entrypoint_sitl_gzsim.sh /entrypoint.sh
+
+CMD ["/entrypoint.sh"]
diff --git a/packaging/build_px4_sitl_gzsim.sh b/packaging/build_px4_sitl_gzsim.sh
new file mode 100755
index 000000000000..5ee8050ace18
--- /dev/null
+++ b/packaging/build_px4_sitl_gzsim.sh
@@ -0,0 +1,7 @@
+#!/bin/bash
+
+source /opt/ros/humble/setup.sh
+
+pushd px4-firmware
+	make px4_sitl_default
+popd
diff --git a/packaging/entrypoint_sitl_gzsim.sh b/packaging/entrypoint_sitl_gzsim.sh
new file mode 100755
index 000000000000..c42bdafe05b1
--- /dev/null
+++ b/packaging/entrypoint_sitl_gzsim.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+#
+
+export PATH=/px4_sitl/bin:$PATH
+
+case $PX4_VEHICLE_TYPE in
+  mc)
+    export PX4_SYS_AUTOSTART=4401
+    export PX4_GZ_MODEL=holybro-x500
+    ;;
+  rover)
+    export PX4_SYS_AUTOSTART=50005
+    export PX4_GZ_MODEL=scout_mini
+    ;;
+  vtol)
+    export PX4_SYS_AUTOSTART=4004
+    export PX4_GZ_MODEL=standard_vtol
+    ;;
+  fw)
+    export PX4_SYS_AUTOSTART=4003
+    export PX4_GZ_MODEL=rc_cessna
+    ;;
+  *)
+    echo "ERROR: unknown vehicle type: $PX4_VEHICLE_TYPE"
+    exit 1
+    ;;
+esac
+
+export PX4_GZ_MODEL_NAME=$DRONE_DEVICE_ID
+export PX4_GZ_WORLD=${PX4_GZ_WORLD:-default}
+export GZ_PARTITION=sim
+export GZ_RELAY=$(dig +short gazebo-server)
+export GZ_IP=$(hostname -i)
+
+source /opt/ros/humble/setup.sh
+
+/px4_sitl/bin/px4 -d -s /px4_sitl/etc/init.d-posix/rcS -w /px4_sitl
diff --git a/src/drivers/rover_interface/RoverInterface.cpp b/src/drivers/rover_interface/RoverInterface.cpp
index 8d65ea989abd..bfa8d128db09 100644
--- a/src/drivers/rover_interface/RoverInterface.cpp
+++ b/src/drivers/rover_interface/RoverInterface.cpp
@@ -6,14 +6,12 @@ RoverInterface *RoverInterface::_instance;
 // CAN interface | default is can0
 const char *const RoverInterface::CAN_IFACE = "can0";
 
-RoverInterface::RoverInterface(uint8_t rover_type, uint32_t bitrate, float manual_throttle_max,
-			       float mission_throttle_max)
+RoverInterface::RoverInterface(uint8_t rover_type, uint32_t bitrate, float vehicle_speed_max)
 	: ModuleParams(nullptr),
 	  ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rover_interface),
 	  _rover_type(rover_type),
 	  _bitrate(bitrate),
-	  _manual_throttle_max(manual_throttle_max),
-	  _mission_throttle_max(mission_throttle_max)
+	  _vehicle_speed_max(vehicle_speed_max)
 {
 	pthread_mutex_init(&_node_mutex, nullptr);
 }
@@ -45,14 +43,14 @@ RoverInterface::~RoverInterface()
 }
 
 
-int RoverInterface::start(uint8_t rover_type, uint32_t bitrate, float manual_throttle_max, float mission_throttle_max)
+int RoverInterface::start(uint8_t rover_type, uint32_t bitrate, float vehicle_speed_max)
 {
 	if (_instance != nullptr) {
 		PX4_ERR("Already started");
 		return -1;
 	}
 
-	_instance = new RoverInterface(rover_type, bitrate, manual_throttle_max, mission_throttle_max);
+	_instance = new RoverInterface(rover_type, bitrate, vehicle_speed_max);
 
 	if (_instance == nullptr) {
 		PX4_ERR("Failed to allocate RoverInterface object");
@@ -155,6 +153,20 @@ void RoverInterface::Init()
 }
 
 
+void RoverInterface::parameters_update(bool force)
+{
+	// check for parameter updates
+	if (_parameter_update_sub.updated() || force) {
+		// clear update
+		parameter_update_s pupdate;
+		_parameter_update_sub.copy(&pupdate);
+
+		// update parameters from storage
+		updateParams();
+	}
+}
+
+
 void RoverInterface::Run()
 {
 	pthread_mutex_lock(&_node_mutex);
@@ -192,6 +204,8 @@ void RoverInterface::Run()
 	perf_begin(_cycle_perf);
 	perf_count(_interval_perf);
 
+	// Update parameters
+	parameters_update();
 
 	// Check for actuator armed command to rover
 	ActuatorArmedUpdate();
@@ -244,7 +258,7 @@ void RoverInterface::VehicleTorqueAndThrustUpdate()
 	}
 
 	if (do_update) {
-		auto throttle = (_is_manual_mode ? _manual_throttle_max : _mission_throttle_max) * _throttle_control;
+		auto throttle = (_is_manual_mode ? _param_man_speed_scale.get() : _vehicle_speed_max) * _throttle_control;
 		auto steering = _yaw_control;
 		_scout->SetMotionCommand(throttle, steering);
 	}
@@ -400,21 +414,16 @@ extern "C" __EXPORT int rover_interface_main(int argc, char *argv[])
 		int32_t can_bitrate = 0;
 		param_get(param_find("RI_CAN_BITRATE"), &can_bitrate);
 
-		// Manual control mode max throttle (1m/s to 3m/s)
-		float manual_throttle_max = 1.0;
-		param_get(param_find("RI_MAN_THR_MAX"), &manual_throttle_max);
-
-		// Mission control mode max throttle (1m/s to 3m/s)
-		float mission_throttle_max = 1.0;
-		param_get(param_find("RI_MIS_THR_MAX"), &mission_throttle_max);
+		// Vehicle speed max | depending on rover type
+		float vehicle_speed_max = 0.0f;
+		param_get(param_find("GND_SPEED_MAX"), &vehicle_speed_max);
 
 		// Start
 		PX4_INFO("Start Rover Interface to rover type %d at CAN iface %s with bitrate %d bit/s",
 			 rover_type, RoverInterface::CAN_IFACE, can_bitrate);
 		return RoverInterface::start(static_cast<uint8_t>(rover_type),
 					     can_bitrate,
-					     manual_throttle_max,
-					     mission_throttle_max
+					     vehicle_speed_max
 					    );
 	}
 
diff --git a/src/drivers/rover_interface/RoverInterface.hpp b/src/drivers/rover_interface/RoverInterface.hpp
index c55a6d4695f1..888b06bba5cb 100644
--- a/src/drivers/rover_interface/RoverInterface.hpp
+++ b/src/drivers/rover_interface/RoverInterface.hpp
@@ -11,6 +11,8 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/SubscriptionInterval.hpp>
 #include <uORB/Publication.hpp>
+#include <uORB/topics/parameter_update.h>
+
 #include <uORB/topics/vehicle_thrust_setpoint.h>
 #include <uORB/topics/vehicle_torque_setpoint.h>
 #include <uORB/topics/actuator_armed.h>
@@ -28,7 +30,7 @@ class RoverInterface : public ModuleParams, public px4::ScheduledWorkItem
 	 * Base interval, has to be compliant with the rate of the actuator_controls
 	 * topic subscription and CAN bus update rate
 	 */
-	static constexpr uint64_t ScheduleIntervalMs{100_us};
+	static constexpr uint64_t ScheduleIntervalMs{10_ms};
 
 	static constexpr uint64_t RoverStatusPublishIntervalMs{1000_ms};
 
@@ -39,10 +41,10 @@ class RoverInterface : public ModuleParams, public px4::ScheduledWorkItem
 public:
 	static const char *const CAN_IFACE;
 
-	RoverInterface(uint8_t rover_type, uint32_t bitrate, float manual_throttle_max, float mission_throttle_max);
+	RoverInterface(uint8_t rover_type, uint32_t bitrate, float vehicle_speed_max);
 	~RoverInterface() override;
 
-	static int start(uint8_t rover_type, uint32_t bitrate, float manual_throttle_max, float mission_throttle_max);
+	static int start(uint8_t rover_type, uint32_t bitrate, float vehicle_speed_max);
 
 	void print_status();
 
@@ -79,9 +81,7 @@ class RoverInterface : public ModuleParams, public px4::ScheduledWorkItem
 
 	uint32_t _bitrate;
 
-	float _manual_throttle_max;
-
-	float _mission_throttle_max;
+	float _vehicle_speed_max;
 
 	float _throttle_control;
 
@@ -94,6 +94,7 @@ class RoverInterface : public ModuleParams, public px4::ScheduledWorkItem
 	scoutsdk::ScoutRobot *_scout{nullptr};
 
 	// Subscription
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::SubscriptionInterval _vehicle_thrust_setpoint_sub{ORB_ID(vehicle_thrust_setpoint), ControlSubIntervalMs};
 	uORB::SubscriptionInterval _vehicle_torque_setpoint_sub{ORB_ID(vehicle_torque_setpoint), ControlSubIntervalMs};
 	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
@@ -108,4 +109,13 @@ class RoverInterface : public ModuleParams, public px4::ScheduledWorkItem
 	// Performance counters
 	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")};
 	perf_counter_t _interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::RI_MAN_SPD_SC>) _param_man_speed_scale
+	)
+
+	/**
+	 * Update our local parameter cache.
+	 */
+	void parameters_update(bool force = false);
 };
diff --git a/src/drivers/rover_interface/rover_interface_params.c b/src/drivers/rover_interface/rover_interface_params.c
index b17b1fa8504f..b8b4f629ef20 100644
--- a/src/drivers/rover_interface/rover_interface_params.c
+++ b/src/drivers/rover_interface/rover_interface_params.c
@@ -59,24 +59,11 @@ PARAM_DEFINE_INT32(RI_CAN_BITRATE, 500000);
 
 
 /**
- * Rover interface manual control throttle max.
+ * Rover interface manual control speed scale.
  *
- * @unit m/s
+ * @unit %m/s
  * @min 1.0
  * @max 3.0
- * @reboot_required true
- * @group Rover Interface
- */
-PARAM_DEFINE_FLOAT(RI_MAN_THR_MAX, 1.0);
-
-
-/**
- * Rover interface mission control throttle max.
- *
- * @unit m/s
- * @min 1.0
- * @max 3.0
- * @reboot_required true
  * @group Rover Interface
  */
-PARAM_DEFINE_FLOAT(RI_MIS_THR_MAX, 1.0);
+PARAM_DEFINE_FLOAT(RI_MAN_SPD_SC, 1.0);
diff --git a/src/modules/rover_pos_control/RoverPositionControl.cpp b/src/modules/rover_pos_control/RoverPositionControl.cpp
index 24909280e99c..6b0406716aed 100644
--- a/src/modules/rover_pos_control/RoverPositionControl.cpp
+++ b/src/modules/rover_pos_control/RoverPositionControl.cpp
@@ -204,7 +204,10 @@ RoverPositionControl::control_position(const matrix::Vector2d &current_position,
 	bool setpoint = true;
 
 	if ((_control_mode.flag_control_auto_enabled ||
-	     _control_mode.flag_control_offboard_enabled) && pos_sp_triplet.current.valid) {
+	     _control_mode.flag_control_offboard_enabled) &&
+	    pos_sp_triplet.current.valid &&
+	    PX4_ISFINITE(pos_sp_triplet.current.lat) &&
+	    PX4_ISFINITE(pos_sp_triplet.current.lon)) {
 		/* AUTONOMOUS FLIGHT */
 
 		_control_mode_current = UGV_POSCTRL_MODE_AUTO;
@@ -307,6 +310,9 @@ RoverPositionControl::control_position(const matrix::Vector2d &current_position,
 		_prev_wp = curr_wp;
 
 	} else {
+		// Other position control mode is not supported. Stop the rover.
+		_yaw_control = 0.0f;
+		_throttle_control = 0.0f;
 		_control_mode_current = UGV_POSCTRL_MODE_OTHER;
 		setpoint = false;
 	}
@@ -320,20 +326,46 @@ RoverPositionControl::control_velocity(const matrix::Vector3f &current_velocity)
 	const Vector3f desired_velocity{_trajectory_setpoint.velocity};
 	float dt = 0.01; // Using non zero value to a avoid division by zero
 
+	if (_control_velocity_last_called > 0) {
+		dt = hrt_elapsed_time(&_control_velocity_last_called) * 1e-6f;
+	}
+
+	_control_velocity_last_called = hrt_absolute_time();
+
 	const float mission_throttle = _param_throttle_cruise.get();
 	const float desired_speed = desired_velocity.norm();
+	float desired_angular_vel = PX4_ISFINITE(_trajectory_setpoint.yawspeed) ?  _trajectory_setpoint.yawspeed :
+				    desired_velocity(1);
 
-	if (desired_speed > 0.01f) {
+	if (desired_speed > 0.01f || desired_angular_vel > 0.01f) {
 		const Dcmf R_to_body(Quatf(_vehicle_att.q).inversed());
 		const Vector3f vel = R_to_body * Vector3f(current_velocity(0), current_velocity(1), current_velocity(2));
 
 		const float x_vel = vel(0);
 		const float x_acc = _vehicle_acceleration_sub.get().xyz[0];
+		float control_throttle = 0.0f;
+		float speed_error = desired_speed - x_vel;
+
+		if (_param_speed_control_mode.get() == 0) {
+			// Use PID control
+			control_throttle = pid_calculate(&_speed_ctrl, desired_speed, x_vel, x_acc, dt);
+			_throttle_control = math::constrain(control_throttle, 0.0f, mission_throttle);
 
-		const float control_throttle = pid_calculate(&_speed_ctrl, desired_speed, x_vel, x_acc, dt);
+		} else if (_param_speed_control_mode.get() == 1) {
+			if (_param_ang_vel_control_mode.get() == 1) {
+				speed_error = desired_velocity(0) - x_vel;
+			}
 
-		//Constrain maximum throttle to mission throttle
-		_throttle_control = math::constrain(control_throttle, 0.0f, mission_throttle);
+			// Use acc limited direct control
+			float max_delta_speed = (speed_error > 0 ? _param_speed_acc_limit.get() : _param_speed_dec_limit.get()) * dt;
+			// Compute the velocity with delta speed and constrain it to GND_SPEED_TRIM
+			float command_velocity = math::constrain(x_vel + math::constrain(speed_error, -max_delta_speed, max_delta_speed),
+						 -_param_gndspeed_trim.get(), _param_gndspeed_trim.get());
+			// Compute the desired velocity and divide it by max speed to get the throttle control
+			control_throttle = command_velocity / _param_gndspeed_max.get();
+			// Still multiplying it with scaler to have the support for simulation. Real hw has 1.0 scaler as default
+			_throttle_control = control_throttle;
+		}
 
 		Vector3f desired_body_velocity;
 
@@ -345,14 +377,21 @@ RoverPositionControl::control_velocity(const matrix::Vector3f &current_velocity)
 			desired_body_velocity = R_to_body * desired_velocity;
 		}
 
-		const float desired_theta = atan2f(desired_body_velocity(1), desired_body_velocity(0));
-		float control_effort = desired_theta / _param_max_turn_angle.get();
-		control_effort = math::constrain(control_effort, -1.0f, 1.0f);
-
-		_yaw_control = control_effort;
+		if (_param_ang_vel_control_mode.get() == 0) {
+			// Determine yaw from XY vector
+			const float desired_theta = atan2f(desired_body_velocity(1), desired_body_velocity(0));
+			float control_effort = desired_theta / _param_max_turn_angle.get();
+			control_effort = math::constrain(control_effort, -1.0f, 1.0f);
+			_yaw_control = control_effort;
+
+		} else if (_param_ang_vel_control_mode.get() == 1) {
+			// Use direct yaw input from velocity setpoint
+			// Limit it to max anguler velocity
+			_yaw_control = math::constrain(desired_angular_vel, -_param_max_angular_velocity.get(),
+						       _param_max_angular_velocity.get());
+		}
 
 	} else {
-
 		_throttle_control = 0.0f;
 		_yaw_control = 0.0f;
 	}
@@ -414,14 +453,16 @@ RoverPositionControl::Run()
 
 			// Convert Local setpoints to global setpoints
 			if (_control_mode.flag_control_offboard_enabled) {
-				_trajectory_setpoint_sub.update(&_trajectory_setpoint);
-
-				// local -> global
-				_global_local_proj_ref.reproject(
-					_trajectory_setpoint.position[0], _trajectory_setpoint.position[1],
-					_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
-
-				_pos_sp_triplet.current.valid = true;
+				//_trajectory_setpoint_sub.update(&_trajectory_setpoint);
+				if (_trajectory_setpoint_sub.update(&_trajectory_setpoint) &&
+				    matrix::Vector3f(_trajectory_setpoint.position).isAllFinite()) {
+					// local -> global
+					_global_local_proj_ref.reproject(
+						_trajectory_setpoint.position[0], _trajectory_setpoint.position[1],
+						_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
+
+					_pos_sp_triplet.current.valid = true;
+				}
 			}
 
 			// update the reset counters in any case
diff --git a/src/modules/rover_pos_control/RoverPositionControl.hpp b/src/modules/rover_pos_control/RoverPositionControl.hpp
index ee1c65efa03d..ace06ae9d8ba 100644
--- a/src/modules/rover_pos_control/RoverPositionControl.hpp
+++ b/src/modules/rover_pos_control/RoverPositionControl.hpp
@@ -133,6 +133,7 @@ class RoverPositionControl final : public ModuleBase<RoverPositionControl>, publ
 	perf_counter_t	_loop_perf;			/**< loop performance counter */
 
 	hrt_abstime _control_position_last_called{0}; 	/**<last call of control_position  */
+	hrt_abstime _control_velocity_last_called{0};	/**<last call of control_velocity  */
 	hrt_abstime _manual_setpoint_last_called{0};
 
 	MapProjection _global_local_proj_ref{};
@@ -179,6 +180,8 @@ class RoverPositionControl final : public ModuleBase<RoverPositionControl>, publ
 		(ParamFloat<px4::params::GND_SPEED_MAX>) _param_gndspeed_max,
 
 		(ParamInt<px4::params::GND_SP_CTRL_MODE>) _param_speed_control_mode,
+		(ParamInt<px4::params::GND_VEL_CTRL>) _param_vel_control_mode,
+		(ParamInt<px4::params::GND_ANG_VEL_CTRL>) _param_ang_vel_control_mode,
 		(ParamFloat<px4::params::GND_SPEED_P>) _param_speed_p,
 		(ParamFloat<px4::params::GND_SPEED_I>) _param_speed_i,
 		(ParamFloat<px4::params::GND_SPEED_D>) _param_speed_d,
@@ -190,7 +193,10 @@ class RoverPositionControl final : public ModuleBase<RoverPositionControl>, publ
 		(ParamFloat<px4::params::GND_THR_CRUISE>) _param_throttle_cruise,
 
 		(ParamFloat<px4::params::GND_WHEEL_BASE>) _param_wheel_base,
+		(ParamFloat<px4::params::GND_ACC_LIMIT>) _param_speed_acc_limit,
+		(ParamFloat<px4::params::GND_DEC_LIMIT>) _param_speed_dec_limit,
 		(ParamFloat<px4::params::GND_MAX_ANG>) _param_max_turn_angle,
+		(ParamFloat<px4::params::GND_MAX_ANG_VEL>) _param_max_angular_velocity,
 		(ParamFloat<px4::params::GND_MAN_Y_MAX>) _param_gnd_man_y_max,
 		(ParamFloat<px4::params::NAV_LOITER_RAD>) _param_nav_loiter_rad	/**< loiter radius for Rover */
 	)
diff --git a/src/modules/rover_pos_control/rover_pos_control_params.c b/src/modules/rover_pos_control/rover_pos_control_params.c
index 6458fb1fea65..7106cc46b09c 100644
--- a/src/modules/rover_pos_control/rover_pos_control_params.c
+++ b/src/modules/rover_pos_control/rover_pos_control_params.c
@@ -164,6 +164,32 @@ PARAM_DEFINE_FLOAT(GND_THR_MIN, 0.0f);
  */
 PARAM_DEFINE_INT32(GND_SP_CTRL_MODE, 1);
 
+/**
+ * Control mode for speed
+ *
+ * This allows the user to choose between PID control or direct throttle control to work with
+ * rover_interface
+ * @min 0
+ * @max 1
+ * @value 0 PID control
+ * @value 1 Direct control
+ * @group Rover Position Control
+ */
+PARAM_DEFINE_INT32(GND_VEL_CTRL, 0);
+
+/**
+ * Control mode for angular velocity
+ *
+ * Whether the angular velocity will be done with XY vel command difference, or the angular
+ * velocity commands are given directly either in yawspeed or _trajectory_setpoint.velocity(1)
+ * @min 0
+ * @max 1
+ * @value 0 Difference in XY vel commands
+ * @value 1 Raw input from controller
+ * @group Rover Position Control
+ */
+PARAM_DEFINE_INT32(GND_ANG_VEL_CTRL, 0);
+
 /**
  * Speed proportional gain
  *
@@ -260,6 +286,42 @@ PARAM_DEFINE_FLOAT(GND_SPEED_TRIM, 3.0f);
  */
 PARAM_DEFINE_FLOAT(GND_SPEED_MAX, 10.0f);
 
+/**
+ * Velocity control acceleration limit
+ *
+ * @unit m/s^2
+ * @min 0.01
+ * @max 100.0
+ * @decimal 2
+ * @increment 0.05
+ * @group Rover Position Control
+ */
+PARAM_DEFINE_FLOAT(GND_ACC_LIMIT, 1.0f);
+
+/**
+ * Velocity control deceleration limit
+ *
+ * @unit m/s^2
+ * @min 0.005
+ * @max 100.0
+ * @decimal 2
+ * @increment 0.05
+ * @group Rover Position Control
+ */
+PARAM_DEFINE_FLOAT(GND_DEC_LIMIT, 1.0f);
+
+/**
+ * Limit the given angular velocity
+ *
+ * @unit rad/s
+ * @min 0.0
+ * @max 3.14159
+ * @decimal 3
+ * @increment 0.01
+ * @group Rover Position Control
+ */
+PARAM_DEFINE_FLOAT(GND_MAX_ANG_VEL, 0.4f);
+
 /**
  * Maximum turn angle for Ackerman steering.
  *
diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp
index 5f57ad09f45f..6bfbee43dcdc 100644
--- a/src/modules/simulation/gz_bridge/GZBridge.cpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.cpp
@@ -45,19 +45,25 @@
 #include <iostream>
 #include <string>
 
-GZBridge::GZBridge(const char *world, const char *name, const char *model,
-		   const char *type, const char *pose_str) :
+GZBridge::GZBridge(const char *world, const char *name, const char *model, const char *pose_str) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::rate_ctrl),
 	_world_name(world),
 	_model_name(name),
 	_model_sim(model),
-	_vehicle_type(type),
 	_model_pose(pose_str)
 {
 	pthread_mutex_init(&_node_mutex, nullptr);
 
 	updateParams();
+
+	// get current simulated vehicle airframe type
+	param_get(param_find("CA_AIRFRAME"), &_airframe);
+
+	// get rover max speed
+	if (_airframe == 6) {
+		param_get(param_find("GND_SPEED_MAX"), &_rover_max_speed);
+	}
 }
 
 GZBridge::~GZBridge()
@@ -163,18 +169,6 @@ int GZBridge::init()
 		return PX4_ERROR;
 	}
 
-	// output (rover vehicle type) eg /model/$MODEL_NAME/cmd_vel
-	if (_vehicle_type == "rover") {
-		std::string cmd_vel_topic = "/model/" + _model_name + "/cmd_vel";
-		_cmd_vel_pub = _node.Advertise<gz::msgs::Twist>(cmd_vel_topic);
-
-		if (!_cmd_vel_pub.Valid()) {
-			PX4_ERR("failed to advertise %s", cmd_vel_topic.c_str());
-			return PX4_ERROR;
-		}
-
-	}
-
 #if 0
 	// Airspeed: /world/$WORLD/model/$MODEL/link/airspeed_link/sensor/air_speed/air_speed
 	std::string airpressure_topic = "/world/" + _world_name + "/model/" + _model_name +
@@ -205,6 +199,17 @@ int GZBridge::init()
 		return PX4_ERROR;
 	}
 
+	// output (rover airframe type) eg /model/$MODEL_NAME/cmd_vel
+	if (_airframe == 6) {
+		std::string cmd_vel_topic = "/model/" + _model_name + "/cmd_vel";
+		_cmd_vel_pub = _node.Advertise<gz::msgs::Twist>(cmd_vel_topic);
+
+		if (!_cmd_vel_pub.Valid()) {
+			PX4_ERR("failed to advertise %s", cmd_vel_topic.c_str());
+			return PX4_ERROR;
+		}
+	}
+
 	ScheduleNow();
 	return OK;
 }
@@ -215,7 +220,6 @@ int GZBridge::task_spawn(int argc, char *argv[])
 	const char *model_name = nullptr;
 	const char *model_pose = nullptr;
 	const char *model_sim = nullptr;
-	const char *vehicle_type = nullptr;
 	const char *px4_instance = nullptr;
 	std::string model_name_std;
 
@@ -252,11 +256,6 @@ int GZBridge::task_spawn(int argc, char *argv[])
 			px4_instance = myoptarg;
 			break;
 
-		case 'v':
-			// vehicle type
-			vehicle_type = myoptarg;
-			break;
-
 		case '?':
 			error_flag = true;
 			break;
@@ -280,10 +279,6 @@ int GZBridge::task_spawn(int argc, char *argv[])
 		model_sim = "";
 	}
 
-	if (!vehicle_type) {
-		vehicle_type = "mc";
-	}
-
 	if (!px4_instance) {
 		if (!model_name) {
 			model_name = model_sim;
@@ -294,10 +289,9 @@ int GZBridge::task_spawn(int argc, char *argv[])
 		model_name = model_name_std.c_str();
 	}
 
-	PX4_INFO("world: %s, model name: %s, simulation model: %s, vehicle type: %s", world_name, model_name, model_sim,
-		 vehicle_type);
+	PX4_INFO("world: %s, model name: %s, simulation model: %s", world_name, model_name, model_sim);
 
-	GZBridge *instance = new GZBridge(world_name, model_name, model_sim, vehicle_type, model_pose);
+	GZBridge *instance = new GZBridge(world_name, model_name, model_sim, model_pose);
 
 	if (instance) {
 		_object.store(instance);
@@ -692,13 +686,15 @@ void GZBridge::odometryCallback(const gz::msgs::OdometryWithCovariance &odometry
 void GZBridge::updateCmdVel()
 {
 	bool do_update = false;
+	float rover_throttle_control = 0.0f;
+	float rover_yaw_control = 0.0f;
 
 	// Check torque setppoint update
 	if (_vehicle_torque_setpoint_sub.updated()) {
 		vehicle_torque_setpoint_s vehicle_torque_setpoint_msg;
 
 		if (_vehicle_torque_setpoint_sub.copy(&vehicle_torque_setpoint_msg)) {
-			_rover_yaw_control = vehicle_torque_setpoint_msg.xyz[2];
+			rover_yaw_control = vehicle_torque_setpoint_msg.xyz[2];
 			do_update = true;
 		}
 	}
@@ -708,19 +704,21 @@ void GZBridge::updateCmdVel()
 		vehicle_thrust_setpoint_s vehicle_thrust_setpoint_msg;
 
 		if (_vehicle_thrust_setpoint_sub.copy(&vehicle_thrust_setpoint_msg)) {
-			_rover_throttle_control = vehicle_thrust_setpoint_msg.xyz[0];
+			/**
+			 * On physical rover the max speed scale back is only for mission mode
+			 * But here, we simplify the logic and apply the scale back for both
+			 * manual and mission mode
+			 */
+			rover_throttle_control = vehicle_thrust_setpoint_msg.xyz[0] * _rover_max_speed;
 			do_update = true;
 		}
 	}
 
 	if (do_update) {
-		auto throttle = 1.0f * _rover_throttle_control;
-		auto steering = _rover_yaw_control;
-
 		// publish cmd_vel
 		gz::msgs::Twist cmd_vel_message;
-		cmd_vel_message.mutable_linear()->set_x(throttle);
-		cmd_vel_message.mutable_angular()->set_z(steering);
+		cmd_vel_message.mutable_linear()->set_x(rover_throttle_control);
+		cmd_vel_message.mutable_angular()->set_z(rover_yaw_control);
 
 		if (_cmd_vel_pub.Valid()) {
 			_cmd_vel_pub.Publish(cmd_vel_message);
@@ -728,7 +726,6 @@ void GZBridge::updateCmdVel()
 	}
 }
 
-
 void GZBridge::rotateQuaternion(gz::math::Quaterniond &q_FRD_to_NED, const gz::math::Quaterniond q_FLU_to_ENU)
 {
 	// FLU (ROS) to FRD (PX4) static rotation
@@ -771,8 +768,8 @@ void GZBridge::Run()
 		_mixing_interface_servo.updateParams();
 	}
 
-	// In case of rover vehicle type, publish gz cmd_vel
-	if (_vehicle_type == "rover") { updateCmdVel(); }
+	// In case of differential drive rover airframe type, publish gz cmd_vel
+	if (_airframe == 6) { updateCmdVel(); }
 
 	ScheduleDelayed(10_ms);
 
diff --git a/src/modules/simulation/gz_bridge/GZBridge.hpp b/src/modules/simulation/gz_bridge/GZBridge.hpp
index fad051dc8853..0ed1ca3e4f9c 100644
--- a/src/modules/simulation/gz_bridge/GZBridge.hpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.hpp
@@ -72,7 +72,7 @@ using namespace time_literals;
 class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
-	GZBridge(const char *world, const char *name, const char *model, const char *type, const char *pose_str);
+	GZBridge(const char *world, const char *name, const char *model, const char *pose_str);
 	~GZBridge() override;
 
 	/** @see ModuleBase */
@@ -97,6 +97,12 @@ class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::S
 
 	bool updateClock(const uint64_t tv_sec, const uint64_t tv_nsec);
 
+	/**
+	 * In case of rover: listen to vehicle thrust and torque setpoint and
+	 * publish to simulated rover cmd_vel
+	 */
+	void updateCmdVel();
+
 	void clockCallback(const gz::msgs::Clock &clock);
 
 	// void airspeedCallback(const gz::msgs::AirSpeedSensor &air_pressure);
@@ -104,7 +110,6 @@ class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::S
 	void imuCallback(const gz::msgs::IMU &imu);
 	void poseInfoCallback(const gz::msgs::Pose_V &pose);
 	void odometryCallback(const gz::msgs::OdometryWithCovariance &odometry);
-	void updateCmdVel();
 
 	/**
 	*
@@ -150,18 +155,18 @@ class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::S
 	const std::string _world_name;
 	const std::string _model_name;
 	const std::string _model_sim;
-	const std::string _vehicle_type;
 	const std::string _model_pose;
 
-	float _temperature{288.15};  // 15 degrees
+	int32_t _airframe;
 
-	float _rover_throttle_control{0.0f};
+	float _rover_max_speed{0.0};
 
-	float _rover_yaw_control{0.0f};
+	float _temperature{288.15};  // 15 degrees
 
-	gz::transport::Node _node;
 	gz::transport::Node::Publisher _cmd_vel_pub;
 
+	gz::transport::Node _node;
+
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::SIM_GZ_HOME_LAT>) _param_sim_home_lat,
 		(ParamFloat<px4::params::SIM_GZ_HOME_LON>) _param_sim_home_lon,
diff --git a/src/modules/simulation/gz_bridge/parameters.c b/src/modules/simulation/gz_bridge/parameters.c
index 513c67436cef..8f4a81eec170 100644
--- a/src/modules/simulation/gz_bridge/parameters.c
+++ b/src/modules/simulation/gz_bridge/parameters.c
@@ -36,10 +36,19 @@
  *
  * @boolean
  * @reboot_required true
- * @group UAVCAN
+ * @group Simulator
  */
 PARAM_DEFINE_INT32(SIM_GZ_EN, 0);
 
+/**
+ * Simulator Gazebo run enable
+ *
+ * @boolean
+ * @reboot_required true
+ * @group Simulator
+ */
+PARAM_DEFINE_INT32(SIM_GZ_RUN_GZSIM, 1);
+
 /**
  * simulator origin latitude
  *
diff --git a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp
index 1e1b5be22c06..283e171ec37f 100644
--- a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp
+++ b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp
@@ -114,9 +114,9 @@ void SensorGpsSim::Run()
 		vehicle_global_position_s gpos{};
 		_vehicle_global_position_sub.copy(&gpos);
 
-		double latitude = gpos.lat + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
-		double longitude = gpos.lon + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
-		float altitude = gpos.alt + (generate_wgn() * 0.5f);
+		double latitude = gpos.lat + math::degrees((double)generate_wgn() * 0.1 / CONSTANTS_RADIUS_OF_EARTH);
+		double longitude = gpos.lon + math::degrees((double)generate_wgn() * 0.1 / CONSTANTS_RADIUS_OF_EARTH);
+		float altitude = gpos.alt + (generate_wgn() * 0.1f);
 
 		Vector3f gps_vel = Vector3f{lpos.vx, lpos.vy, lpos.vz} + noiseGauss3f(0.06f, 0.077f, 0.158f);