diff --git a/Tools/autotest/pysim/rover.py b/Tools/autotest/pysim/rover.py
index bb1e42dfb5..81523fbb9c 100644
--- a/Tools/autotest/pysim/rover.py
+++ b/Tools/autotest/pysim/rover.py
@@ -13,14 +13,27 @@ class Rover(Aircraft):
     def __init__(self,
                  max_speed=10,
                  max_accel=10,
-                 max_turn_rate=45):
+                 max_turn_rate=45,
+                 skid_steering=False):
         Aircraft.__init__(self)
         self.max_speed = max_speed
         self.max_accel = max_accel
         self.max_turn_rate = max_turn_rate
         self.last_time = time.time()
+        self.skid_steering = skid_steering
 
     def update(self, state):
+
+        # if in skid steering mode the steering and throttle values are used for motor1 and motor2
+        if self.skid_steering:
+            motor1 = state.steering
+            motor2 = state.throttle
+            steering = motor2 - motor1
+            throttle = 0.5*(motor1 + motor2)
+        else:
+            steering = state.steering
+            throttle = state.throttle
+
         # how much time has passed?
         t = time.time()
         delta_time = t - self.last_time
@@ -33,10 +46,10 @@ class Rover(Aircraft):
         speed = velocity_body.x
 
         # yaw rate in degrees/s
-        yaw_rate = self.max_turn_rate * state.steering * (speed / self.max_speed)
+        yaw_rate = self.max_turn_rate * steering * (speed / self.max_speed)
 
         # target speed with current throttle
-        target_speed = state.throttle * self.max_speed
+        target_speed = throttle * self.max_speed
 
         # linear acceleration in m/s/s - very crude model
         accel = self.max_accel * (target_speed - speed) / self.max_speed
@@ -76,3 +89,4 @@ class Rover(Aircraft):
 
         # update lat/lon/altitude
         self.update_position(delta_time)
+
diff --git a/Tools/autotest/pysim/sim_rover.py b/Tools/autotest/pysim/sim_rover.py
index 695d79489e..af5292e1bc 100755
--- a/Tools/autotest/pysim/sim_rover.py
+++ b/Tools/autotest/pysim/sim_rover.py
@@ -76,6 +76,7 @@ parser.add_option("--simin",  dest="simin",   help="SIM input (IP:port)",
 parser.add_option("--simout", dest="simout",  help="SIM output (IP:port)",      default="127.0.0.1:5501")
 parser.add_option("--home", dest="home",  type='string', default=None, help="home lat,lng,alt,hdg (required)")
 parser.add_option("--rate", dest="rate", type='int', help="SIM update rate", default=100)
+parser.add_option("--skid-steering", action='store_true', default=False, help="Use skid steering")
 
 (opts, args) = parser.parse_args()
 
@@ -102,7 +103,7 @@ sim_out.connect(sim_out_address)
 sim_out.setblocking(0)
 
 # create the quadcopter model
-a = Rover()
+a = Rover(skid_steering=opts.skid_steering)
 
 # initial controls state
 state = ControlState()