diff --git a/platforms/common/include/px4_platform_common/board_common.h b/platforms/common/include/px4_platform_common/board_common.h
index b05d832718..6b316c31d8 100644
--- a/platforms/common/include/px4_platform_common/board_common.h
+++ b/platforms/common/include/px4_platform_common/board_common.h
@@ -458,6 +458,15 @@ static inline bool board_rc_singlewire(const char *device) { return false; }
  *   A board may define RC_SERIAL_SWAP_RXTX, so that RC_SERIAL_PORT is configured
  *   as UART with RX/TX swapped.
  *
+ *   It can optionaly define RC_SERIAL_SWAP_USING_SINGLEWIRE If the board is wired
+ *   with TX to the input (Swapped) and the SoC does not support U[S]ART level
+ *   HW swapping, then use onewire to do the swap if and only if:
+ *
+ *    RC_SERIAL_SWAP_USING_SINGLEWIRE   is defined
+ *    RC_SERIAL_SWAP_RXTX               is defined
+ *    TIOCSSWAP                         is defined and retuns !OK
+ *    TIOCSSINGLEWIRE                   is defined
+ *
  * Input Parameters:
  *   device: serial device, e.g. "/dev/ttyS0"
  *
diff --git a/src/drivers/rc_input/RCInput.cpp b/src/drivers/rc_input/RCInput.cpp
index 5caab7e973..bea3af194c 100644
--- a/src/drivers/rc_input/RCInput.cpp
+++ b/src/drivers/rc_input/RCInput.cpp
@@ -302,6 +302,25 @@ void RCInput::rc_io_invert(bool invert)
 	}
 }
 
+void  RCInput::swap_rx_tx()
+{
+#if defined(RC_SERIAL_SWAP_USING_SINGLEWIRE)
+	int rv = -ENOTTY;
+#  if defined(TIOCSSWAP)
+	rv = ioctl(_rcs_fd, TIOCSSWAP, SER_SWAP_ENABLED);
+#  endif // TIOCSSWAP
+#  ifdef TIOCSSINGLEWIRE
+
+	if (rv != OK) {
+		ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+	}
+
+#  else
+	UNUSED(rv);
+#  endif // TIOCSSINGLEWIRE
+#endif // RC_SERIAL_SWAP_USING_SINGLEWIRE
+}
+
 void RCInput::Run()
 {
 	if (should_exit()) {
@@ -494,6 +513,7 @@ void RCInput::Run()
 				_rc_scan_begin = cycle_timestamp;
 				// Configure serial port for DSM
 				dsm_config(_rcs_fd);
+				swap_rx_tx();
 
 				// flush serial buffer and any existing buffered data
 				tcflush(_rcs_fd, TCIOFLUSH);
@@ -531,6 +551,7 @@ void RCInput::Run()
 				_rc_scan_begin = cycle_timestamp;
 				// Configure serial port for DSM
 				dsm_config(_rcs_fd);
+				swap_rx_tx();
 
 				// flush serial buffer and any existing buffered data
 				tcflush(_rcs_fd, TCIOFLUSH);
@@ -582,6 +603,7 @@ void RCInput::Run()
 				_rc_scan_begin = cycle_timestamp;
 				// Configure serial port for DSM
 				dsm_config(_rcs_fd);
+				swap_rx_tx();
 
 				// flush serial buffer and any existing buffered data
 				tcflush(_rcs_fd, TCIOFLUSH);
@@ -660,6 +682,7 @@ void RCInput::Run()
 				_rc_scan_begin = cycle_timestamp;
 				// Configure serial port for CRSF
 				crsf_config(_rcs_fd);
+				swap_rx_tx();
 
 				// flush serial buffer and any existing buffered data
 				tcflush(_rcs_fd, TCIOFLUSH);
@@ -708,6 +731,7 @@ void RCInput::Run()
 				_rc_scan_begin = cycle_timestamp;
 				// Configure serial port for GHST
 				ghst_config(_rcs_fd);
+				swap_rx_tx();
 
 				// flush serial buffer and any existing buffered data
 				tcflush(_rcs_fd, TCIOFLUSH);
diff --git a/src/drivers/rc_input/RCInput.hpp b/src/drivers/rc_input/RCInput.hpp
index 718fb2647c..be781471c8 100644
--- a/src/drivers/rc_input/RCInput.hpp
+++ b/src/drivers/rc_input/RCInput.hpp
@@ -126,6 +126,7 @@ private:
 	void set_rc_scan_state(RC_SCAN _rc_scan_state);
 
 	void rc_io_invert(bool invert);
+	void swap_rx_tx(void);
 
 	input_rc_s _input_rc{};
 	hrt_abstime _rc_scan_begin{0};