commander/safety: replace safety.msg with Safety class (#19558)

msg/CMakeLists.txt

@@ -137,7 +137,6 @@ set(msg_files
 	rc_parameter_map.msg
 	rpm.msg
 	rtl_time_estimate.msg
-	safety.msg
 	satellite_info.msg
 	sensor_accel.msg
 	sensor_accel_fifo.msg

msg/safety.msg

@@ -1,3 +0,0 @@
-uint64 timestamp		# time since system start (microseconds)
-bool safety_switch_available		# Set to true if a safety switch is connected
-bool safety_off			# Set to true if safety is off

msg/vehicle_status.msg

@@ -116,3 +116,6 @@ uint8 latest_disarming_reason
 uint64 armed_time       # Arming timestamp (microseconds)
 
 uint64 takeoff_time     # Takeoff timestamp (microseconds)
+
+bool safety_button_available	# Set to true if a safety button is connected
+bool safety_off					# Set to true if safety is off

src/lib/events/enums.json

@@ -146,38 +146,34 @@
                             "description": "mission start"
                         },
                         "6": {
-                            "name": "safety_button",
-                            "description": "safety button"
-                        },
-                        "7": {
                             "name": "auto_disarm_land",
                             "description": "landing"
                         },
-                        "8": {
+                        "7": {
                             "name": "auto_disarm_preflight",
                             "description": "auto preflight disarming"
                         },
-                        "9": {
+                        "8": {
                             "name": "kill_switch",
                             "description": "kill switch"
                         },
-                        "10": {
+                        "9": {
                             "name": "lockdown",
                             "description": "lockdown"
                         },
-                        "11": {
+                        "10": {
                             "name": "failure_detector",
                             "description": "failure detector"
                         },
-                        "12": {
+                        "11": {
                             "name": "shutdown",
                             "description": "shutdown request"
                         },
-                        "13": {
+                        "12": {
                             "name": "unit_test",
                             "description": "unit tests"
                         },
-                        "14": {
+                        "13": {
                             "name": "rc_button",
                             "description": "RC (button)"
                         }

src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.cpp

@@ -39,7 +39,7 @@ constexpr bool
 ArmStateMachine::arming_transitions[vehicle_status_s::ARMING_STATE_MAX][vehicle_status_s::ARMING_STATE_MAX];
 
 transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &status,
-		const vehicle_control_mode_s &control_mode, const safety_s &safety,
+		const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
 		const arming_state_t new_arming_state, actuator_armed_s &armed, const bool fRunPreArmChecks,
 		orb_advert_t *mavlink_log_pub, vehicle_status_flags_s &status_flags,
 		const PreFlightCheck::arm_requirements_t &arm_requirements,
@@ -112,8 +112,9 @@ transition_result_t ArmStateMachine::arming_state_transition(vehicle_status_s &s
 
 					if (fRunPreArmChecks && preflight_check_ret) {
 						// only bother running prearm if preflight was successful
-						prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, control_mode, safety, arm_requirements,
-								   status);
+						prearm_check_ret = PreFlightCheck::preArmCheck(mavlink_log_pub, status_flags, control_mode,
+								   safety_button_available, safety_off,
+								   arm_requirements, status);
 					}
 
 					if (!preflight_check_ret || !prearm_check_ret) {

src/modules/commander/Arming/ArmStateMachine/ArmStateMachine.hpp

@@ -37,7 +37,6 @@
 #include <drivers/drv_hrt.h>
 #include <px4_platform_common/events.h>
 #include <uORB/topics/actuator_armed.h>
-#include <uORB/topics/safety.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/vehicle_status_flags.h>
@@ -55,8 +54,8 @@ public:
 	void forceArmState(uint8_t new_arm_state) { _arm_state = new_arm_state; }
 
 	transition_result_t
-	arming_state_transition(vehicle_status_s &status, const vehicle_control_mode_s &control_mode, const safety_s &safety,
-				const arming_state_t new_arming_state,
+	arming_state_transition(vehicle_status_s &status, const vehicle_control_mode_s &control_mode,
+				const bool safety_button_available, const bool safety_off, const arming_state_t new_arming_state,
 				actuator_armed_s &armed, const bool fRunPreArmChecks, orb_advert_t *mavlink_log_pub,
 				vehicle_status_flags_s &status_flags, const PreFlightCheck::arm_requirements_t &arm_requirements,
 				const hrt_abstime &time_since_boot, arm_disarm_reason_t calling_reason);

src/modules/commander/Arming/ArmStateMachine/ArmStateMachineTest.cpp

@@ -55,7 +55,7 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
 		hil_state_t                     hil_state;                              // Current vehicle_status_s.hil_state
 		bool
 		system_sensors_initialized;   // Current vehicle_status_s.system_sensors_initialized
-		bool                            safety_switch_available;                // Current safety_s.safety_switch_available
+		bool                            safety_button_available;                // Current safety_s.safety_button_available
 		bool                            safety_off;                             // Current safety_s.safety_off
 		arming_state_t                  requested_state;                        // Requested arming state to transition to
 		ArmingTransitionVolatileState_t expected_state;                         // Expected machine state after transition
@@ -166,17 +166,17 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
 			{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_CHANGED
 		},
 
-		// Safety switch arming tests
+		// Safety button arming tests
 
 		{
-			"transition: standby to armed, no safety switch",
+			"transition: standby to armed, no safety button",
 			{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_NOT_AVAILABLE, ATT_SAFETY_OFF,
 			vehicle_status_s::ARMING_STATE_ARMED,
 			{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_CHANGED
 		},
 
 		{
-			"transition: standby to armed, safety switch off",
+			"transition: standby to armed, safety button off",
 			{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_ON, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_OFF,
 			vehicle_status_s::ARMING_STATE_ARMED,
 			{ vehicle_status_s::ARMING_STATE_ARMED, ATT_ARMED}, TRANSITION_CHANGED
@@ -242,10 +242,10 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
 		//    vehicle_status_s::ARMING_STATE_STANDBY,
 		//    { vehicle_status_s::ARMING_STATE_STANDBY_ERROR, ATT_DISARMED, ATT_NOT_READY_TO_ARM }, TRANSITION_DENIED },
 
-		// Safety switch arming tests
+		// safety button arming tests
 
 		{
-			"no transition: init to armed, safety switch on",
+			"no transition: init to armed, safety button on",
 			{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, vehicle_status_s::HIL_STATE_OFF, ATT_SENSORS_INITIALIZED, ATT_SAFETY_AVAILABLE, ATT_SAFETY_ON,
 			vehicle_status_s::ARMING_STATE_ARMED,
 			{ vehicle_status_s::ARMING_STATE_STANDBY, ATT_DISARMED}, TRANSITION_DENIED
@@ -254,7 +254,6 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
 
 	struct vehicle_status_s status {};
 	struct vehicle_status_flags_s status_flags {};
-	struct safety_s safety {};
 	struct actuator_armed_s armed {};
 
 	size_t cArmingTransitionTests = sizeof(rgArmingTransitionTests) / sizeof(rgArmingTransitionTests[0]);
@@ -270,8 +269,6 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
 		status.hil_state = test->hil_state;
 		// The power status of the test unit is not relevant for the unit test
 		status_flags.circuit_breaker_engaged_power_check = true;
-		safety.safety_switch_available = test->safety_switch_available;
-		safety.safety_off = test->safety_off;
 
 		vehicle_control_mode_s control_mode{};
 
@@ -279,7 +276,8 @@ TEST(ArmStateMachineTest, ArmingStateTransitionTest)
 		transition_result_t result = arm_state_machine.arming_state_transition(
 						     status,
 						     control_mode,
-						     safety,
+						     test->safety_button_available,
+						     test->safety_off,
 						     test->requested_state,
 						     armed,
 						     true /* enable pre-arm checks */,

src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2019 - 2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -41,11 +41,11 @@
 #pragma once
 
 #include <uORB/uORB.h>
-#include <uORB/topics/safety.h>
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_status_flags.h>
 #include <uORB/topics/vehicle_status.h>
 #include <drivers/drv_hrt.h>
+#include "../../Safety.hpp"
 
 typedef bool (*sens_check_func_t)(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
 				  const bool is_mandatory, bool &report_fail);
@@ -94,8 +94,8 @@ public:
 	};
 
 	static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
-				const vehicle_control_mode_s &control_mode,
-				const safety_s &safety, const arm_requirements_t &arm_requirements, vehicle_status_s &status,
+				const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
+				const arm_requirements_t &arm_requirements, vehicle_status_s &status,
 				bool report_fail = true);
 
 private:

src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp

@@ -39,8 +39,8 @@
 #include <HealthFlags.h>
 
 bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
-				 const vehicle_control_mode_s &control_mode,
-				 const safety_s &safety, const arm_requirements_t &arm_requirements, vehicle_status_s &status, bool report_fail)
+				 const vehicle_control_mode_s &control_mode, const bool safety_button_available, const bool safety_off,
+				 const arm_requirements_t &arm_requirements, vehicle_status_s &status, bool report_fail)
 {
 	bool prearm_ok = true;
 
@@ -156,10 +156,10 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
 	}
 
 	// safety button
-	if (safety.safety_switch_available && !safety.safety_off) {
-		// Fail transition if we need safety switch press
+	if (safety_button_available && !safety_off) {
+		// Fail transition if we need safety button press
 		if (prearm_ok) {
-			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety switch first"); }
+			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety button first"); }
 		}
 
 		prearm_ok = false;

src/modules/commander/Commander.cpp

@@ -301,7 +301,10 @@ int Commander::custom_command(int argc, char *argv[])
 					   true, true, 30_s);
 		PX4_INFO("Preflight check: %s", preflight_check_res ? "OK" : "FAILED");
 
-		bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, vehicle_status_flags, vehicle_control_mode, safety_s{},
+		bool dummy_safety_button{false};
+		bool dummy_safety_off{false};
+		bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, vehicle_status_flags, vehicle_control_mode,
+					dummy_safety_button, dummy_safety_off,
 					PreFlightCheck::arm_requirements_t{}, vehicle_status);
 		PX4_INFO("Prearm check: %s", prearm_check_res ? "OK" : "FAILED");
 
@@ -493,7 +496,8 @@ extern "C" __EXPORT int commander_main(int argc, char *argv[])
 
 bool Commander::shutdown_if_allowed()
 {
-	return TRANSITION_DENIED != _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, _safety,
+	return TRANSITION_DENIED != _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode,
+			_safety.isButtonAvailable(), _safety.isSafetyOff(),
 			vehicle_status_s::ARMING_STATE_SHUTDOWN,
 			_armed, false /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags, _arm_requirements,
 			hrt_elapsed_time(&_boot_timestamp), arm_disarm_reason_t::shutdown);
@@ -514,8 +518,6 @@ static constexpr const char *arm_disarm_reason_str(arm_disarm_reason_t calling_r
 
 	case arm_disarm_reason_t::mission_start: return "mission start";
 
-	case arm_disarm_reason_t::safety_button: return "safety button";
-
 	case arm_disarm_reason_t::auto_disarm_land: return "landing";
 
 	case arm_disarm_reason_t::auto_disarm_preflight: return "auto preflight disarming";
@@ -746,7 +748,8 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 		}
 	}
 
-	transition_result_t arming_res = _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, _safety,
+	transition_result_t arming_res = _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode,
+					 _safety.isButtonAvailable(), _safety.isSafetyOff(),
 					 vehicle_status_s::ARMING_STATE_ARMED, _armed, run_preflight_checks,
 					 &_mavlink_log_pub, _status_flags, _arm_requirements, hrt_elapsed_time(&_boot_timestamp),
 					 calling_reason);
@@ -788,7 +791,8 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
 		}
 	}
 
-	transition_result_t arming_res = _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, _safety,
+	transition_result_t arming_res = _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode,
+					 _safety.isButtonAvailable(), _safety.isSafetyOff(),
 					 vehicle_status_s::ARMING_STATE_STANDBY, _armed, false,
 					 &_mavlink_log_pub, _status_flags, _arm_requirements,
 					 hrt_elapsed_time(&_boot_timestamp), calling_reason);
@@ -799,7 +803,7 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
 				"Disarmed by {1}", calling_reason);
 
 		if (_param_com_force_safety.get()) {
-			_safety_handler.enableSafety();
+			_safety.activateSafety();
 		}
 
 		_status_changed = true;
@@ -1393,7 +1397,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
 			} else {
 
 				/* try to go to INIT/PREFLIGHT arming state */
-				if (TRANSITION_DENIED == _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, safety_s{},
+				if (TRANSITION_DENIED == _arm_state_machine.arming_state_transition(_status, _vehicle_control_mode,
+						_safety.isButtonAvailable(), _safety.isSafetyOff(),
 						vehicle_status_s::ARMING_STATE_INIT, _armed,
 						false /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags,
 						PreFlightCheck::arm_requirements_t{}, // arming requirements not relevant for switching to ARMING_STATE_INIT
@@ -1474,9 +1479,17 @@ Commander::handle_command(const vehicle_command_s &cmd)
 					/* do esc calibration */
 					if (check_battery_disconnected(&_mavlink_log_pub)) {
 						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
-						_status_flags.calibration_enabled = true;
-						_armed.in_esc_calibration_mode = true;
-						_worker_thread.startTask(WorkerThread::Request::ESCCalibration);
+
+						if (_safety.isButtonAvailable() && !_safety.isSafetyOff()) {
+							mavlink_log_critical(&_mavlink_log_pub, "ESC calibration denied! Press safety button first\t");
+							events::send(events::ID("commander_esc_calibration_denied"), events::Log::Critical,
+								     "ESCs calibration denied");
+
+						} else {
+							_status_flags.calibration_enabled = true;
+							_armed.in_esc_calibration_mode = true;
+							_worker_thread.startTask(WorkerThread::Request::ESCCalibration);
+						}
 
 					} else {
 						answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_DENIED);
@@ -1630,7 +1643,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 unsigned
 Commander::handle_command_motor_test(const vehicle_command_s &cmd)
 {
-	if (_arm_state_machine.isArmed() || (_safety.safety_switch_available && !_safety.safety_off)) {
+	if (_arm_state_machine.isArmed() || (_safety.isButtonAvailable() && !_safety.isSafetyOff())) {
 		return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
 	}
 
@@ -1678,7 +1691,7 @@ Commander::handle_command_motor_test(const vehicle_command_s &cmd)
 unsigned
 Commander::handle_command_actuator_test(const vehicle_command_s &cmd)
 {
-	if (_arm_state_machine.isArmed() || (_safety.safety_switch_available && !_safety.safety_off)) {
+	if (_arm_state_machine.isArmed() || (_safety.isButtonAvailable() && !_safety.isSafetyOff())) {
 		return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
 	}
 
@@ -2274,38 +2287,25 @@ Commander::run()
 			}
 		}
 
-		_safety_handler.safetyButtonHandler();
-
-		/* update safety topic */
-		const bool safety_updated = _safety_sub.updated();
+		/* safety button */
+		bool safety_updated = _safety.safetyButtonHandler();
+		_status.safety_button_available = _safety.isButtonAvailable();
+		_status.safety_off = _safety.isSafetyOff();
 
 		if (safety_updated) {
-			const bool previous_safety_valid = (_safety.timestamp != 0);
-			const bool previous_safety_off = _safety.safety_off;
-
-			if (_safety_sub.copy(&_safety)) {
-				set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MOTORCONTROL, _safety.safety_switch_available, _safety.safety_off,
-						 _safety.safety_switch_available, _status);
 
-				// disarm if safety is now on and still armed
-				if (_arm_state_machine.isArmed() && _safety.safety_switch_available && !_safety.safety_off
-				    && (_status.hil_state == vehicle_status_s::HIL_STATE_OFF)) {
-					disarm(arm_disarm_reason_t::safety_button);
-				}
+			set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MOTORCONTROL, _safety.isButtonAvailable(), _safety.isSafetyOff(),
+					 _safety.isButtonAvailable(), _status);
 
-				// Notify the user if the status of the safety switch changes
-				if (previous_safety_valid && _safety.safety_switch_available && previous_safety_off != _safety.safety_off) {
+			// Notify the user if the status of the safety button changes
+			if (_safety.isSafetyOff()) {
+				set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
 
-					if (_safety.safety_off) {
-						set_tune(tune_control_s::TUNE_ID_NOTIFY_POSITIVE);
-
-					} else {
-						tune_neutral(true);
-					}
-
-					_status_changed = true;
-				}
+			} else {
+				tune_neutral(true);
 			}
+
+			_status_changed = true;
 		}
 
 		/* update vtol vehicle status*/
@@ -2452,7 +2452,8 @@ Commander::run()
 		/* If in INIT state, try to proceed to STANDBY state */
 		if (!_status_flags.calibration_enabled && _arm_state_machine.isInit()) {
 
-			_arm_state_machine.arming_state_transition(_status, _vehicle_control_mode, _safety,
+			_arm_state_machine.arming_state_transition(_status, _vehicle_control_mode,
+					_safety.isButtonAvailable(), _safety.isSafetyOff(),
 					vehicle_status_s::ARMING_STATE_STANDBY, _armed,
 					true /* fRunPreArmChecks */, &_mavlink_log_pub, _status_flags,
 					_arm_requirements, hrt_elapsed_time(&_boot_timestamp),
@@ -2955,12 +2956,12 @@ Commander::run()
 			break;
 
 		case PrearmedMode::SAFETY_BUTTON:
-			if (_safety.safety_switch_available) {
-				/* safety switch is present, go into prearmed if safety is off */
-				_armed.prearmed = _safety.safety_off;
+			if (_safety.isButtonAvailable()) {
+				/* safety button is present, go into prearmed if safety is off */
+				_armed.prearmed = _safety.isSafetyOff();
 
 			} else {
-				/* safety switch is not present, do not go into prearmed */
+				/* safety button is not present, do not go into prearmed */
 				_armed.prearmed = false;
 			}
 
@@ -2989,8 +2990,9 @@ Commander::run()
 				// skip arm authorization check until actual arming attempt
 				PreFlightCheck::arm_requirements_t arm_req = _arm_requirements;
 				arm_req.arm_authorization = false;
-				bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, _status_flags, _vehicle_control_mode, _safety, arm_req,
-							_status, false);
+				bool prearm_check_res = PreFlightCheck::preArmCheck(nullptr, _status_flags, _vehicle_control_mode,
+							_safety.isButtonAvailable(), _safety.isSafetyOff(),
+							arm_req, _status, false);
 
 				const bool prearm_check_ok = preflight_check_res && prearm_check_res;
 				set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PREARM_CHECK, true, true, prearm_check_ok, _status);
@@ -3035,8 +3037,7 @@ Commander::run()
 		}
 
 		/* play arming and battery warning tunes */
-		if (!_arm_tune_played && _arm_state_machine.isArmed() &&
-		    (_safety.safety_switch_available || (_safety.safety_switch_available && _safety.safety_off))) {
+		if (!_arm_tune_played && _arm_state_machine.isArmed()) {
 
 			/* play tune when armed */
 			set_tune(tune_control_s::TUNE_ID_ARMING_WARNING);
@@ -3061,7 +3062,7 @@ Commander::run()
 		}
 
 		/* reset arm_tune_played when disarmed */
-		if (!_arm_state_machine.isArmed() || (_safety.safety_switch_available && !_safety.safety_off)) {
+		if (!_arm_state_machine.isArmed()) {
 
 			// Notify the user that it is safe to approach the vehicle
 			if (_arm_tune_played) {

src/modules/commander/Commander.hpp

@@ -80,7 +80,6 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/power_button_state.h>
 #include <uORB/topics/rtl_time_estimate.h>
-#include <uORB/topics/safety.h>
 #include <uORB/topics/system_power.h>
 #include <uORB/topics/telemetry_status.h>
 #include <uORB/topics/vehicle_angular_velocity.h>
@@ -392,7 +391,6 @@ private:
 
 	geofence_result_s	_geofence_result{};
 	vehicle_land_detected_s	_vehicle_land_detected{};
-	safety_s		_safety{};
 	vtol_vehicle_status_s	_vtol_status{};
 
 	hrt_abstime _last_wind_warning{0};
@@ -404,7 +402,7 @@ private:
 	vehicle_status_s        _status{};
 	vehicle_status_flags_s  _status_flags{};
 
-	Safety _safety_handler{};
+	Safety _safety{};
 
 	WorkerThread _worker_thread;
 
@@ -419,7 +417,6 @@ private:
 	uORB::Subscription					_vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
 	uORB::Subscription					_manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
 	uORB::Subscription					_rtl_time_estimate_sub{ORB_ID(rtl_time_estimate)};
-	uORB::Subscription					_safety_sub{ORB_ID(safety)};
 	uORB::Subscription					_system_power_sub{ORB_ID(system_power)};
 	uORB::Subscription					_vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
 	uORB::Subscription					_vehicle_attitude_sub{ORB_ID(vehicle_attitude)};

src/modules/commander/Safety.cpp

@@ -48,36 +48,35 @@ Safety::Safety()
 	_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
 }
 
-void Safety::safetyButtonHandler()
+bool Safety::safetyButtonHandler()
 {
 	if (_safety_disabled) {
-		_safety.safety_switch_available = true;
-		_safety.safety_off = true;
+		_button_available = true;
+		_safety_off = true;
 
 	} else {
 
-		if (!_safety.safety_switch_available && _safety_button_sub.advertised()) {
-			_safety.safety_switch_available = true;
+		if (!_button_available && _safety_button_sub.advertised()) {
+			_button_available = true;
 		}
 
 		button_event_s button_event;
 
 		while (_safety_button_sub.update(&button_event)) {
-			_safety.safety_off |= button_event.triggered; // triggered safety button activates safety off
+			_safety_off |= button_event.triggered; // triggered safety button activates safety off
 		}
 	}
 
-	// publish immediately on change, otherwise at 1 Hz for logging
-	if ((hrt_elapsed_time(&_safety.timestamp) >= 1_s) ||
-	    (_safety.safety_off != _previous_safety_off)) {
-		_safety.timestamp = hrt_absolute_time();
-		_safety_pub.publish(_safety);
-	}
+	bool safety_changed = _previous_safety_off != _safety_off;
+
+	_previous_safety_off = _safety_off;
 
-	_previous_safety_off = _safety.safety_off;
+	return safety_changed;
 }
 
-void Safety::enableSafety()
+void Safety::activateSafety()
 {
-	_safety.safety_off = false;
+	if (!_safety_disabled) {
+		_safety_off = false;
+	}
 }

src/modules/commander/Safety.hpp

@@ -40,7 +40,6 @@
 #include <uORB/SubscriptionMultiArray.hpp>
 #include <uORB/Publication.hpp>
 #include <uORB/topics/button_event.h>
-#include <uORB/topics/safety.h>
 
 class Safety
 {
@@ -50,15 +49,17 @@ public:
 	Safety();
 	~Safety() = default;
 
-	void safetyButtonHandler();
-	void enableSafety();
+	bool safetyButtonHandler();
+	void activateSafety();
+	bool isButtonAvailable() { return _button_available;}
+	bool isSafetyOff() { return _safety_off;}
 
 private:
 
 	uORB::Subscription _safety_button_sub{ORB_ID::safety_button};
-	uORB::Publication<safety_s>	_safety_pub{ORB_ID(safety)};
 
-	safety_s _safety{};
-	bool _safety_disabled{false};
-	bool _previous_safety_off{false};
+	bool _button_available{false};		//<! Set to true if a safety button is connected
+	bool _safety_off{false};			//<! Set to true if safety is off
+	bool _previous_safety_off{false};	//<! Previous safety value
+	bool _safety_disabled{false};		//<! Set to true if safety is disabled
 };

src/modules/commander/esc_calibration.cpp

@@ -52,7 +52,6 @@
 #include <uORB/Subscription.hpp>
 #include <uORB/topics/battery_status.h>
 #include <uORB/topics/actuator_test.h>
-#include <uORB/topics/safety.h>
 #include <parameters/param.h>
 
 using namespace time_literals;
@@ -94,15 +93,6 @@ static void set_motor_actuators(uORB::Publication<actuator_test_s> &publisher, f
 
 int do_esc_calibration_ctrl_alloc(orb_advert_t *mavlink_log_pub)
 {
-	// check safety
-	uORB::SubscriptionData<safety_s> safety_sub{ORB_ID(safety)};
-	safety_sub.update();
-
-	if (safety_sub.get().safety_switch_available && !safety_sub.get().safety_off) {
-		calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Disable safety first");
-		return PX4_ERROR;
-	}
-
 	int	return_code = PX4_OK;
 	uORB::Publication<actuator_test_s> actuator_test_pub{ORB_ID(actuator_test)};
 	// since we publish multiple at once, make sure the output driver subscribes before we publish

src/modules/logger/logged_topics.cpp

@@ -86,7 +86,6 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("px4io_status");
 	add_topic("radio_status");
 	add_topic("rtl_time_estimate", 1000);
-	add_topic("safety");
 	add_topic("sensor_combined");
 	add_optional_topic("sensor_correction");
 	add_optional_topic("sensor_gyro_fft", 50);