diff --git a/boards/px4/fmu-v6xrt/src/board_config.h b/boards/px4/fmu-v6xrt/src/board_config.h
index a2edff8dab..61d703f8e3 100644
--- a/boards/px4/fmu-v6xrt/src/board_config.h
+++ b/boards/px4/fmu-v6xrt/src/board_config.h
@@ -451,10 +451,12 @@
 #define HRT_PPM_CHANNEL         /* GPIO_EMC_B1_09 GPIO_GPT5_CAPTURE1_1 */  1  /* use capture/compare channel 1 */
 #define GPIO_PPM_IN             /* GPIO_EMC_B1_09 GPT1_CAPTURE2 */ (GPIO_GPT5_CAPTURE1_1 | GENERAL_INPUT_IOMUX)
 
-#define RC_SERIAL_PORT                  "/dev/ttyS4"
-#define RC_SERIAL_SINGLEWIRE            1 // Suport Single wire wiring
-#define RC_SERIAL_SWAP_RXTX             1 // Set Swap (but not supported in HW) to use Single wire
-#define RC_SERIAL_SWAP_USING_SINGLEWIRE 1 // Set to use Single wire swap as HW does not support swap
+#define RC_SERIAL_PORT                     "/dev/ttyS4"
+#define RC_SERIAL_SINGLEWIRE               1 // Suport Single wire wiring
+#define RC_SERIAL_SWAP_RXTX                1 // Set Swap (but not supported in HW) to use Single wire
+#define RC_SERIAL_SWAP_USING_SINGLEWIRE    1 // Set to use Single wire swap as HW does not support swap
+#define RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX 1 // Set to use ioctl's to manually swap duplex
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
 
 /* FLEXSPI4 */
 
diff --git a/src/drivers/rc_input/RCInput.cpp b/src/drivers/rc_input/RCInput.cpp
index 12cd1ab0bf..6af0f00317 100644
--- a/src/drivers/rc_input/RCInput.cpp
+++ b/src/drivers/rc_input/RCInput.cpp
@@ -734,7 +734,15 @@ void RCInput::Run()
 						}
 
 						if (_crsf_telemetry) {
+#if defined(RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX)
+							ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_DIR_TX);
+#endif
 							_crsf_telemetry->update(cycle_timestamp);
+#if defined(RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX)
+							tcflush(_rcs_fd, TCIOFLUSH);
+							tcdrain(_rcs_fd); // Ensure TX FIFO is empty before swapping
+							ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_DIR_RX);
+#endif
 						}
 					}
 				}
@@ -787,7 +795,15 @@ void RCInput::Run()
 						}
 
 						if (_ghst_telemetry) {
+#if defined(RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX)
+							ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_DIR_TX);
+#endif
 							_ghst_telemetry->update(cycle_timestamp);
+#if defined(RC_SERIAL_SINGLEWIRE_MANUAL_DUPLEX)
+							tcflush(_rcs_fd, TCIOFLUSH);
+							tcdrain(_rcs_fd); // Ensure TX FIFO is empty before swapping
+							ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_DIR_RX);
+#endif
 						}
 					}
 				}