diff --git a/ROMFS/px4fmu_common/init.d-posix/1070_boat b/ROMFS/px4fmu_common/init.d-posix/1070_boat
new file mode 100644
index 0000000000..88bc8667ec
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d-posix/1070_boat
@@ -0,0 +1,37 @@
+#!/bin/sh
+#
+# @name Boat
+#
+
+sh /etc/init.d/rc.boat_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 11
+
+set MIXER_FILE etc/mixers-sitl/boat_sitl.main.mix
diff --git a/ROMFS/px4fmu_common/init.d/rc.boat_defaults b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
new file mode 100644
index 0000000000..5c8e952bc9
--- /dev/null
+++ b/ROMFS/px4fmu_common/init.d/rc.boat_defaults
@@ -0,0 +1,42 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+set VEHICLE_TYPE rover
+
+if [ $AUTOCNF = yes ]
+then
+#
+# Default parameters for UGVs.
+#
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+
+	param set NAV_DLL_ACT 0
+	param set NAV_ACC_RAD 2
+
+	# Temporary.
+	param set NAV_FW_ALT_RAD 1000
+fi
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 1234
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 1234
diff --git a/ROMFS/px4fmu_common/mixers-sitl/boat_sitl.main.mix b/ROMFS/px4fmu_common/mixers-sitl/boat_sitl.main.mix
new file mode 100644
index 0000000000..49cfa1ba20
--- /dev/null
+++ b/ROMFS/px4fmu_common/mixers-sitl/boat_sitl.main.mix
@@ -0,0 +1,15 @@
+Mixer for SITL boat
+=========================================================
+
+Throttle of left propeller of boat on Output 0
+---------------------------------------
+M: 2
+S: 0 2    10000   10000      0  -10000  10000
+S: 0 3    10000   10000      0  -10000  10000
+
+
+Throttle of right propeller of boat on Output 1
+---------------------------------------
+M: 2
+S: 0 2   -10000  -10000      0  -10000  10000
+S: 0 3    10000   10000      0  -10000  10000
diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake
index ffeb50b58e..9f5a9e6e69 100644
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@@ -64,7 +64,7 @@ set(models none shell
 	if750a iris iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps solo typhoon_h480
 	plane plane_catapult
 	standard_vtol tailsitter tiltrotor
-	rover
+	rover boat
 	uuv_hippocampus)
 set(all_posix_vmd_make_targets)
 foreach(viewer ${viewers})