diff --git a/data_collection_model_and_results/rover/rover_v3.1/check_and_set_pluto.sh b/data_collection_model_and_results/rover/rover_v3.1/check_and_set_pluto.sh
new file mode 100644
index 00000000..721012af
--- /dev/null
+++ b/data_collection_model_and_results/rover/rover_v3.1/check_and_set_pluto.sh
@@ -0,0 +1,80 @@
+#!/bin/bash
+
+eths=`ls /sys/class/net/ -l  | awk '{print $NF}' | grep usb | xargs -l basename`
+
+function turn_on_eths {
+	for ethx in ${eths}; do 
+		sudo ifconfig ${ethx} up
+	done
+}
+
+function turn_off_eths {
+	for ethx in ${eths}; do 
+		sudo ifconfig ${ethx} down
+	done
+}
+
+
+function check_pluto {
+	rm -f pluto_env
+        sshpass -panalog ssh root@192.168.2.1 'fw_printenv' > pluto_env 2> /dev/null
+	grep 'attr_name=compatible' pluto_env > /dev/null
+	if [ $? -ne 0 ]; then
+		return 1
+	fi
+	grep 'attr_val=ad9361' pluto_env > /dev/null
+	if [ $? -ne 0 ]; then
+		return 1
+	fi
+	grep 'compatible=ad9361' pluto_env > /dev/null
+	if [ $? -ne 0 ]; then
+		return 1
+	fi
+	return 0
+}
+
+function set_and_reboot_pluto {
+	sshpass -panalog ssh root@192.168.2.1 'fw_setenv attr_name compatible; fw_setenv attr_val ad9361; fw_setenv compatible ad9361; fw_setenv mode 2r2t' > /dev/null 2>&1
+        sshpass -panalog ssh root@192.168.2.1 'reboot' > /dev/null 2>&1
+	
+
+}
+
+function wait_for_pluto {
+	while [ 0 -eq 0 ]; do
+		sshpass -panalog ssh -o ConnectTimeout=1 root@192.168.2.1 uptime > /dev/null 2>&1 
+		if [ $? -eq 0 ]; then
+			return 0
+		fi 
+		sleep 0.5
+	done
+}
+
+for eth in ${eths}; do
+	turn_off_eths
+	sudo ifconfig ${eth} up
+	echo "Wait for pluto on $eth"
+	wait_for_pluto
+	check_pluto
+	if [ $? -ne 0 ]; then
+		echo "Setting fw param on $eth"
+		set_and_reboot_pluto
+		sleep 10 # wait for reboot to start
+		echo "Waiting for pluto to come back up"
+		wait_for_pluto
+		check_pluto
+		if [ $? -ne 0 ]; then
+			echo "FAILED TO SET PARAMS ON $eth"
+		else
+			echo "Successfully set params on $eth"
+		fi
+	else
+		echo "Params already set on $eth"
+	fi
+	wait_for_pluto # lets make sure its online before we turn off this interface again
+done
+
+turn_on_eths
+sleep 0.5
+
+lsusb -t | grep usb-storage | sed 's/.*Port \([0-9]*\): Dev \([0-9]*\),.*/\1 \2/g' > ~/device_mapping # update out USB mappings
diff --git a/data_collection_model_and_results/rover/rover_v3.1/drone_run.sh b/data_collection_model_and_results/rover/rover_v3.1/drone_run.sh
index d5e0a045..b1aa822d 100755
--- a/data_collection_model_and_results/rover/rover_v3.1/drone_run.sh
+++ b/data_collection_model_and_results/rover/rover_v3.1/drone_run.sh
@@ -5,9 +5,14 @@ test -z "$VIRTUAL_ENV" && source ~/spf-virtualenv/bin/activate
 
 rover_id=`cat /home/pi/rover_id`
 
+if [ ! -f "/home/pi/.ssh/config" ]; then
+	cp ${repo_root}/data_collection_model_and_results/rover/rover_v3.1/ssh_config /home/pi/.ssh/config
+fi
+
 python ${repo_root}/spf/mavlink/mavlink_controller.py --buzzer git
 
 echo "checking if updates available"
+bash ${repo_root}/data_collection_model_and_results/rover/rover_v3.1/install_deps.sh
 pushd ${repo_root}
 current_hash=`git rev-parse --short HEAD`
 git pull
@@ -63,4 +68,4 @@ else
 fi
 
 python3 ${repo_root}/spf/mavlink_radio_collection.py \
-    -c ${config} -m /home/pi/device_mapping -r ${routine} -t "RO${rover_id}" -n $n
\ No newline at end of file
+    -c ${config} -m /home/pi/device_mapping -r ${routine} -t "RO${rover_id}" -n $n
diff --git a/data_collection_model_and_results/rover/rover_v3.1/install_deps.sh b/data_collection_model_and_results/rover/rover_v3.1/install_deps.sh
new file mode 100644
index 00000000..d2e17fa2
--- /dev/null
+++ b/data_collection_model_and_results/rover/rover_v3.1/install_deps.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+sudo apt-get update
+sudo apt-get install git screen libiio-dev libiio-utils vim python3-dev uhubctl libusb-dev libusb-1.0-0-dev sshpass -y
diff --git a/data_collection_model_and_results/rover/rover_v3.1/setup.sh b/data_collection_model_and_results/rover/rover_v3.1/setup.sh
index 0da63297..2673baca 100644
--- a/data_collection_model_and_results/rover/rover_v3.1/setup.sh
+++ b/data_collection_model_and_results/rover/rover_v3.1/setup.sh
@@ -6,11 +6,15 @@ if [ $# -ne 1 ]; then
 fi
 
 #assign the rover its ID
+repo_root="/home/pi/spf/"
+
 rover_id=$1
 echo ${rover_id} > ~/rover_id
 
-sudo apt-get update
-sudo apt-get install git screen libiio-dev libiio-utils vim python3-dev uhubctl libusb-dev libusb-1.0-0-dev -y
+
+bash ${repo_root}/data_collection_model_and_results/rover/rover_v3.1/install_deps.sh
+#sudo apt-get update
+#sudo apt-get install git screen libiio-dev libiio-utils vim python3-dev uhubctl libusb-dev libusb-1.0-0-dev sshpass -y
 
 # virtual enviornment setup
 python -m venv ~/spf-virtualenv
diff --git a/data_collection_model_and_results/rover/rover_v3.1/ssh_config b/data_collection_model_and_results/rover/rover_v3.1/ssh_config
new file mode 100644
index 00000000..41a6b108
--- /dev/null
+++ b/data_collection_model_and_results/rover/rover_v3.1/ssh_config
@@ -0,0 +1,3 @@
+Host 192.168.2.*
+    StrictHostKeyChecking no
+    UserKnownHostsFile=/dev/null