diff --git a/ROMFS/px4fmu_common/init.d/50001_rover b/ROMFS/px4fmu_common/init.d/50001_rover
index d66b8f0a7d00..e9df3904b923 100644
--- a/ROMFS/px4fmu_common/init.d/50001_rover
+++ b/ROMFS/px4fmu_common/init.d/50001_rover
@@ -5,6 +5,6 @@
 
 sh /etc/init.d/rc.rover_defaults
 
-set MIXER IO_pass.mix
+set MIXER IO_pass
 
 set PWM_OUT 1234
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 097ea5efdac7..434e7870b8a3 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -285,3 +285,12 @@ then
 fi
 
 
+
+#
+# Ground Rover
+#
+if param compare SYS_AUTOSTART 50001
+then
+	sh /etc/init.d/50001_rover
+fi
+
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 1c02fe293df8..580043a1d4a3 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -607,6 +607,7 @@ then
 	# Rover setup
 	#
 	if [ $VEHICLE_TYPE == rover ]
+	then
 		# 10 is MAV_TYPE_GROUND_ROVER
 		set MAV_TYPE 10
 
diff --git a/ROMFS/px4fmu_common/mixers/IO_pass.main.mix b/ROMFS/px4fmu_common/mixers/IO_pass.main.mix
new file mode 100644
index 000000000000..39f875ddb947
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers/IO_pass.main.mix
@@ -0,0 +1,38 @@
+Passthrough mixer for PX4IO
+============================
+
+This file defines passthrough mixers suitable for testing.
+
+Channel group 0, channels 0-7 are passed directly through to the outputs.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 1  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 7  10000  10000      0 -10000  10000