diff --git a/src/drivers/actuators/voxl_esc/voxl_esc.cpp b/src/drivers/actuators/voxl_esc/voxl_esc.cpp
index c41bc69642..a9d81b0b58 100644
--- a/src/drivers/actuators/voxl_esc/voxl_esc.cpp
+++ b/src/drivers/actuators/voxl_esc/voxl_esc.cpp
@@ -291,6 +291,7 @@ int VoxlEsc::load_params(voxl_esc_params_t *params, ch_assign_t *map)
 	param_get(param_find("VOXL_ESC_T_EXPO"),  &params->turtle_motor_expo);
 	param_get(param_find("VOXL_ESC_T_MINF"),  &params->turtle_stick_minf);
 	param_get(param_find("VOXL_ESC_T_COSP"),  &params->turtle_cosphi);
+	param_get(param_find("VOXL_ESC_T_ON"),    &params->turtle_button_on);
 
 	param_get(param_find("VOXL_ESC_FUNC1"),  &params->function_map[0]);
 	param_get(param_find("VOXL_ESC_FUNC2"),  &params->function_map[1]);
@@ -363,6 +364,12 @@ int VoxlEsc::load_params(voxl_esc_params_t *params, ch_assign_t *map)
 		ret = PX4_ERROR;
 	}
 
+	if (params->turtle_button_on < -1 || params->turtle_button_on > 15) {
+		PX4_ERR("Invalid parameter VOXL_ESC_T_ON.  Please verify parameters.");
+		params->turtle_button_on = -1;
+		ret = PX4_ERROR;
+	}
+
 	if (params->gpio_ctl_channel < 0 || params->gpio_ctl_channel > 6) {
 		PX4_ERR("Invalid parameter VOXL_ESC_GPIO_CH.  Please verify parameters.");
 		params->gpio_ctl_channel = 0;
@@ -1495,21 +1502,28 @@ void VoxlEsc::Run()
 
 			if (!_outputs_on) {
 
-				float setpoint = VOXL_ESC_MODE_DISABLED_SETPOINT;
+				bool activate = false;
 
-				if (_parameters.mode == VOXL_ESC_MODE_TURTLE_AUX1) {
-					setpoint = _manual_control_setpoint.aux1;
+				if (_manual_control_setpoint.data_source >= manual_control_setpoint_s::SOURCE_MAVLINK_0
+				    && _parameters.turtle_button_on >= 0) {
+					// MAVLink source: use buttons field directly
+					activate = (_manual_control_setpoint.buttons & (1 << _parameters.turtle_button_on)) != 0;
 
-				} else if (_parameters.mode == VOXL_ESC_MODE_TURTLE_AUX2) {
-					setpoint = _manual_control_setpoint.aux2;
+				} else if (_manual_control_setpoint.data_source == manual_control_setpoint_s::SOURCE_RC) {
+					// RC source: use aux channel as before
+					float setpoint = VOXL_ESC_MODE_DISABLED_SETPOINT;
+
+					if (_parameters.mode == VOXL_ESC_MODE_TURTLE_AUX1) {
+						setpoint = _manual_control_setpoint.aux1;
+
+					} else if (_parameters.mode == VOXL_ESC_MODE_TURTLE_AUX2) {
+						setpoint = _manual_control_setpoint.aux2;
+					}
+
+					activate = (setpoint > VOXL_ESC_MODE_THRESHOLD);
 				}
 
-				if (setpoint > VOXL_ESC_MODE_THRESHOLD) {
-					_turtle_mode_en = true;
-
-				} else {
-					_turtle_mode_en = false;
-				}
+				_turtle_mode_en = activate;
 			}
 		}
 
@@ -1698,6 +1712,7 @@ void VoxlEsc::print_params()
 	PX4_INFO("Params: VOXL_ESC_T_EXPO: %" PRId32, _parameters.turtle_motor_expo);
 	PX4_INFO("Params: VOXL_ESC_T_MINF: %f",       (double)_parameters.turtle_stick_minf);
 	PX4_INFO("Params: VOXL_ESC_T_COSP: %f",       (double)_parameters.turtle_cosphi);
+	PX4_INFO("Params: VOXL_ESC_T_ON:   %" PRId32, _parameters.turtle_button_on);
 
 	PX4_INFO("Params: VOXL_ESC_VLOG: %" PRId32,    _parameters.verbose_logging);
 	PX4_INFO("Params: VOXL_ESC_PUB_BST: %" PRId32, _parameters.publish_battery_status);
diff --git a/src/drivers/actuators/voxl_esc/voxl_esc.hpp b/src/drivers/actuators/voxl_esc/voxl_esc.hpp
index a73f26ae10..1f217fcc6d 100644
--- a/src/drivers/actuators/voxl_esc/voxl_esc.hpp
+++ b/src/drivers/actuators/voxl_esc/voxl_esc.hpp
@@ -176,6 +176,7 @@ private:
 		int32_t		esc_over_temp_threshold{0};
 		int32_t		gpio_ctl_channel{0};
 		int32_t		cmd_type{0};
+		int32_t		turtle_button_on{-1};
 	} voxl_esc_params_t;
 
 	struct EscChan {
diff --git a/src/drivers/actuators/voxl_esc/voxl_esc_params.c b/src/drivers/actuators/voxl_esc/voxl_esc_params.c
index 6ccfeb60ba..2047c97eaa 100644
--- a/src/drivers/actuators/voxl_esc/voxl_esc_params.c
+++ b/src/drivers/actuators/voxl_esc/voxl_esc_params.c
@@ -204,6 +204,24 @@ PARAM_DEFINE_INT32(VOXL_ESC_T_EXPO, 35);
  */
 PARAM_DEFINE_FLOAT(VOXL_ESC_T_COSP, 0.990);
 
+/**
+ * UART ESC Turtle Mode button index for MAVLink manual control
+ *
+ * Specifies which button in the MAVLink MANUAL_CONTROL buttons field
+ * activates turtle mode. Only used when data source is a MAVLink instance.
+ * When data source is RC, turtle mode activation uses the AUX channel
+ * selected by VOXL_ESC_MODE instead.
+ * Set to -1 to disable turtle mode activation via MAVLink buttons.
+ *
+ * @reboot_required true
+ *
+ * @group VOXL ESC
+ * @value -1 Disabled
+ * @min -1
+ * @max 15
+ */
+PARAM_DEFINE_INT32(VOXL_ESC_T_ON, -1);
+
 /**
  * UART ESC verbose logging
  *