Reading parameters using MAVlink (rc trim values)

I am using a companion with a Pixhawk. I want the companion to read a specific parameter - rc1_trim, using MAVlink. I didn’t find any MAVlink message that contains this field in this list:

Since the the MP use MAVlink, it is obviously possible, so, how?

Thanks for any help!

Hiding in plain sight! PARAM_REQUEST_READ

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