diff --git a/ROMFS/px4fmu_common/init.d/50001_rover b/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
similarity index 60%
rename from ROMFS/px4fmu_common/init.d/50001_rover
rename to ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
index c2f94705cdd..a36bac5cc80 100644
--- a/ROMFS/px4fmu_common/init.d/50001_rover
+++ b/ROMFS/px4fmu_common/init.d/50001_axialracing_ax10
@@ -1,10 +1,10 @@
 #!nsh
 #
-# Generic rover
+# loading default values for the axialracing ax10 
 #
 
 #load some defaults e.g. PWM values
-sh /etc/init.d/rc.rover_defaults
+sh /etc/init.d/rc.axialracing_ax10_defaults
 
 #choose a mixer, for rover control we need a plain passthrough to the servos
 set MIXER IO_pass
diff --git a/ROMFS/px4fmu_common/init.d/rc.autostart b/ROMFS/px4fmu_common/init.d/rc.autostart
index 434e7870b8a..de81795b44e 100644
--- a/ROMFS/px4fmu_common/init.d/rc.autostart
+++ b/ROMFS/px4fmu_common/init.d/rc.autostart
@@ -287,10 +287,10 @@ fi
 
 
 #
-# Ground Rover
+# Ground Rover AxialRacing AX10
 #
 if param compare SYS_AUTOSTART 50001
 then
-	sh /etc/init.d/50001_rover
+	sh /etc/init.d/50001_axialracing_ax10
 fi
 
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_apps b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps
similarity index 51%
rename from ROMFS/px4fmu_common/init.d/rc.rover_apps
rename to ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps
index 1d15b983516..625febd7a42 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_apps
@@ -6,4 +6,5 @@
 
 ekf_att_pos_estimator start
 
-rover_steering_control start
+# disabled the start of steering control app due to use of offboard mode only
+# rover_steering_control start
diff --git a/ROMFS/px4fmu_common/init.d/rc.rover_defaults b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults
similarity index 95%
rename from ROMFS/px4fmu_common/init.d/rc.rover_defaults
rename to ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults
index 23bf47df16c..e5d400abe45 100644
--- a/ROMFS/px4fmu_common/init.d/rc.rover_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.axialracing_ax10_defaults
@@ -19,8 +19,8 @@ set PWM_RATE 50
 set PWM_DISARMED 1500
 
 # PWM range
-set PWM_MIN 1200
-set PWM_MAX 1800
+set PWM_MIN 1100
+set PWM_MAX 1900
 
 # Enable servo output on pins 3 and 4 (steering and thrust)
 # but also include 1+2 as they form together one output group
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS
index 59abdc8e333..111965bd5f4 100644
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@@ -631,7 +631,7 @@ then
 		# Start standard rover apps
 		if [ $LOAD_DAPPS == yes ]
 		then
-			sh /etc/init.d/rc.rover_apps
+			sh /etc/init.d/rc.axialracing_ax10_apps
 		fi
 	fi
 
diff --git a/src/examples/rover_steering_control/main.cpp b/src/examples/rover_steering_control/main.cpp
index 0f8eb800e08..96b40b23f07 100644
--- a/src/examples/rover_steering_control/main.cpp
+++ b/src/examples/rover_steering_control/main.cpp
@@ -155,7 +155,6 @@ int parameters_update(const struct param_handles *h, struct params *p)
 void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att,
 		      struct actuator_controls_s *actuators)
 {
-
 	/*
 	 * The PX4 architecture provides a mixer outside of the controller.
 	 * The mixer is fed with a default vector of actuator controls, representing