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I managed to set the parameter to 100 using this:

rosservice call /mavros/param/set "GF_MAX_HOR_DIST" [0,100.0]

and then back to 0 with:

rosservice call /mavros/param/set "GF_MAX_HOR_DIST" [0,0.0]

However, I've found the easiest way to programmatically set parameters over mavros is using rospy. An example how to use rosservices with rospy and mavros is here.

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