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px4.parameter.com_rc_in_mode.set

Open Platform PX4 parameter command. PX4 parameter: COM_RC_IN_MODE Set the PX4 manual-control input source. This parameter chooses whether PX4 uses a traditional RC receiver, a MAVLink joystick, or priority-based switching across multiple input sources.

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Request Params

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vendor
string
必填
Fixed value px4
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device_id
string
必填
Target PX4 device ID
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command_type
string
必填
Fixed value px4.parameter.com_rc_in_mode.set
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idempotency_key
string
必填
Idempotency key; repeated requests return the same command
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timeout_seconds
integer
Timeout in seconds, range 0~300
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payload
object
必填
ComRcInModeSetRequest
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payload.value
string
必填
Manual-control input source enum

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payload.value

ValuePX4 valueMeaning
rc_only0RC only; requires valid RC calibration
mavlink_only1MAVLink joystick only; RC and related checks are disabled
rc_or_mavlink_with_fallback2Switch only if the current source becomes invalid
rc_or_mavlink_keep_first3Lock to the first valid source until reboot
disable_manual_control4Ignore all manual-control sources
rc_then_mavlink_lower_instance5RC first, then lower MAVLink instance, then higher MAVLink instance
mavlink_lower_instance_then_rc6Lower MAVLink instance first, then higher MAVLink instance, then RC
rc_then_mavlink_higher_instance7RC first, then higher MAVLink instance, then lower MAVLink instance
mavlink_higher_instance_then_rc8Higher MAVLink instance first, then lower MAVLink instance, then RC

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PX4 Frame Mapping

  • PX4 source: docs/px4/src/modules/commander/commander_params.yaml
  • PX4 parameter: COM_RC_IN_MODE
  • Parameter type: int32
  • MAVLink frame: PARAM_SET
  • Message ID: 23
  • Completion: ComRcInModeSetResponse, carrying PARAM_VALUE / PARAM_ERROR
  • Guard: PX4_PARAMETER_WRITE_ALLOWLIST must contain COM_RC_IN_MODE

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Create Response

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command_id
string
Platform command ID, used for follow-up queries
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status
string
Acceptance status: ACCEPTED
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accepted_at
string(datetime)
Command acceptance time (UTC)

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Query Response

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status
string
Execution status: ACCEPTED / DELIVERED / SUCCEEDED / FAILED / TIMED_OUT / UNMATCHED_RESPONSE
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vendor_response
object
ComRcInModeSetResponse summary, including the PARAM_VALUE or PARAM_ERROR result
curl -X POST "/api/v1/open/downlink/commands" \
  -H "Content-Type: application/json" \
  -H "X-Api-Id: YOUR_API_ID" \
  -H "X-Api-Timestamp: YOUR_UNIX_SECONDS" \
  -H "X-Api-Nonce: YOUR_NONCE" \
  -H "X-Api-Signature: YOUR_SIGNATURE" \
  -d "{\"vendor\":\"px4\",\"device_id\":\"px4-real-1\",\"command_type\":\"px4.parameter.com_rc_in_mode.set\",\"payload\":{\"value\":\"mavlink_only\"},\"idempotency_key\":\"req-set-COM_RC_IN_MODE-001\",\"timeout_seconds\":30}"

{
  "command_id": "8cdb5bf3-8902-c5f7-f9aa-dc7fa0af1de0",
  "status": "ACCEPTED",
  "accepted_at": "2026-06-15T00:00:00Z"
}