Is RC Override supported on px4?

I am trying to solve the question I asked in this post:

I tried putting the vehicle in altitude hold mode, which works great with a Lidar lite v3 module when in Manual mode (normal RC passthrough). However, when I publish pitch commands to the /mavros/rc/override topic, the quad seems to try to follow them, but the motion is very jerky as if another controller was fighting the new commands.

Can anyone confirm that RC overrride is actually supported in the px4 flight stack? If so, are there additional parameters I need to configure for this to work properly, or a different branch of the firmware that needs to be used?