From 25488da944a44d7ecd9e047758babc04177c1bae Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Igor=20Mi=C5=A1i=C4=87?= <igy1000mb@gmail.com>
Date: Mon, 30 May 2022 14:44:13 +0200
Subject: [PATCH] px4io: replace safety_off state with safety button event
 (#19558)

internal PX4IO safety_off state is removed and replaced with a normal safety button event. From this 'commit' commander is taking care of the PX4IO safety.
---
 .../extras/cubepilot_io-v2_default.bin        | Bin 39728 -> 39696 bytes
 .../extras/cubepilot_io-v2_default.bin        | Bin 39728 -> 39696 bytes
 .../durandal-v1/extras/px4_io-v2_default.bin  | Bin 39952 -> 39916 bytes
 .../pix32v5/extras/px4_io-v2_default.bin      | Bin 39952 -> 39916 bytes
 .../mro/x21-777/extras/px4_io-v2_default.bin  | Bin 39952 -> 39916 bytes
 .../px4/fmu-v2/extras/px4_io-v2_default.bin   | Bin 39952 -> 39916 bytes
 .../px4/fmu-v3/extras/px4_io-v2_default.bin   | Bin 39952 -> 39916 bytes
 .../fmu-v4pro/extras/px4_io-v2_default.bin    | Bin 39952 -> 39916 bytes
 .../px4/fmu-v5/extras/px4_io-v2_default.bin   | Bin 39952 -> 39916 bytes
 .../px4/fmu-v5x/extras/px4_io-v2_default.bin  | Bin 39952 -> 39916 bytes
 .../px4/fmu-v6c/extras/px4_io-v2_default.bin  | Bin 39952 -> 39916 bytes
 .../px4/fmu-v6x/extras/px4_io-v2_default.bin  | Bin 39952 -> 39916 bytes
 msg/px4io_status.msg                          |   2 +-
 src/drivers/drv_pwm_output.h                  |   6 -
 src/drivers/pca9685_pwm_out/main.cpp          |   2 -
 src/drivers/pwm_out/PWMOut.cpp                |   2 -
 src/drivers/px4io/px4io.cpp                   | 134 ++++--------------
 src/drivers/uavcan/uavcan_main.cpp            |   2 -
 src/modules/commander/commander_params.c      |   2 +-
 src/modules/commander/esc_calibration.cpp     |  10 --
 src/modules/px4iofirmware/CMakeLists.txt      |   2 +-
 src/modules/px4iofirmware/mixer.cpp           |   6 +-
 src/modules/px4iofirmware/protocol.h          |  13 +-
 src/modules/px4iofirmware/px4io.cpp           |  10 +-
 src/modules/px4iofirmware/px4io.h             |   6 +-
 src/modules/px4iofirmware/registers.c         |  21 +--
 .../{safety.cpp => safety_button.cpp}         |  43 ++----
 27 files changed, 68 insertions(+), 193 deletions(-)
 rename src/modules/px4iofirmware/{safety.cpp => safety_button.cpp} (79%)

diff --git a/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
index fc9066700fbd65dc8c497a04666ced228cbc4148..b91f26a198dc0927a3d349e26f173d0aaaa4c98a 100755
GIT binary patch
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diff --git a/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
index fc9066700fbd65dc8c497a04666ced228cbc4148..b91f26a198dc0927a3d349e26f173d0aaaa4c98a 100755
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diff --git a/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin b/boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..36128d00f42697f28ae38b7b455d50b12cf06998 100755
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index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..36128d00f42697f28ae38b7b455d50b12cf06998 100755
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index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..36128d00f42697f28ae38b7b455d50b12cf06998 100755
GIT binary patch
delta 4421
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diff --git a/boards/px4/fmu-v2/extras/px4_io-v2_default.bin b/boards/px4/fmu-v2/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..36128d00f42697f28ae38b7b455d50b12cf06998 100755
GIT binary patch
delta 4421
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KihR)U%6|g~TkkLc

delta 4511
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diff --git a/boards/px4/fmu-v3/extras/px4_io-v2_default.bin b/boards/px4/fmu-v3/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..36128d00f42697f28ae38b7b455d50b12cf06998 100755
GIT binary patch
delta 4421
zcmZ8l4OCP|maclQyJ-Z5h8E;k`_WM$sDLIJ9OBS4@T6%75JXf^o8V7tG#ZRi6FsyF
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delta 4511
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diff --git a/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin b/boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..36128d00f42697f28ae38b7b455d50b12cf06998 100755
GIT binary patch
delta 4421
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diff --git a/boards/px4/fmu-v5/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..36128d00f42697f28ae38b7b455d50b12cf06998 100755
GIT binary patch
delta 4421
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delta 4511
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diff --git a/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..36128d00f42697f28ae38b7b455d50b12cf06998 100755
GIT binary patch
delta 4421
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delta 4511
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diff --git a/boards/px4/fmu-v6c/extras/px4_io-v2_default.bin b/boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..36128d00f42697f28ae38b7b455d50b12cf06998 100755
GIT binary patch
delta 4421
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delta 4511
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diff --git a/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin b/boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
index 25a00e2357d781ece9c0d41447c3f4a52c6d19f6..36128d00f42697f28ae38b7b455d50b12cf06998 100755
GIT binary patch
delta 4421
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diff --git a/msg/px4io_status.msg b/msg/px4io_status.msg
index df072e71c2..295c8fba66 100644
--- a/msg/px4io_status.msg
+++ b/msg/px4io_status.msg
@@ -19,7 +19,7 @@ bool status_rc_ppm
 bool status_rc_sbus
 bool status_rc_st24
 bool status_rc_sumd
-bool status_safety_off
+bool status_safety_button_event # px4io safety button was pressed for longer than 1 second
 
 # PX4IO alarms (PX4IO_P_STATUS_ALARMS)
 bool alarm_pwm_error
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 87fc629f6f..43721f9cb0 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -188,12 +188,6 @@ typedef uint16_t	servo_position_t;
 /** get the maximum PWM value the output will send */
 #define PWM_SERVO_GET_MAX_PWM	_PX4_IOC(_PWM_SERVO_BASE, 19)
 
-/** force safety switch off (to disable use of safety switch) */
-#define PWM_SERVO_SET_FORCE_SAFETY_OFF		_PX4_IOC(_PWM_SERVO_BASE, 25)
-
-/** force safety switch on (to enable use of safety switch) */
-#define PWM_SERVO_SET_FORCE_SAFETY_ON		_PX4_IOC(_PWM_SERVO_BASE, 28)
-
 /*
  *
  *
diff --git a/src/drivers/pca9685_pwm_out/main.cpp b/src/drivers/pca9685_pwm_out/main.cpp
index 7e230fc567..c748d526e7 100644
--- a/src/drivers/pca9685_pwm_out/main.cpp
+++ b/src/drivers/pca9685_pwm_out/main.cpp
@@ -492,9 +492,7 @@ int PCA9685Wrapper::ioctl(cdev::file_t *filep, int cmd, unsigned long arg)
 		break;
 
 	case PWM_SERVO_SET_ARM_OK:
-	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
 	case PWM_SERVO_CLEAR_ARM_OK:
-	case PWM_SERVO_SET_FORCE_SAFETY_ON:
 	case PWM_SERVO_ARM:
 	case PWM_SERVO_DISARM:
 		break;
diff --git a/src/drivers/pwm_out/PWMOut.cpp b/src/drivers/pwm_out/PWMOut.cpp
index 25b94c70d5..f32f579597 100644
--- a/src/drivers/pwm_out/PWMOut.cpp
+++ b/src/drivers/pwm_out/PWMOut.cpp
@@ -717,8 +717,6 @@ int PWMOut::pwm_ioctl(device::file_t *filp, int cmd, unsigned long arg)
 
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
-	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
-	case PWM_SERVO_SET_FORCE_SAFETY_ON:
 		break;
 
 	case PWM_SERVO_DISARM:
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index ceb34bc1cd..bfcb3227da 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -74,6 +74,7 @@
 #include <uORB/topics/input_rc.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
+#include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/px4io_status.h>
 #include <uORB/topics/parameter_update.h>
 
@@ -196,7 +197,8 @@ private:
 	uint16_t		_last_written_arming_c{0};	///< the last written arming state reg
 
 	uORB::Subscription	_t_actuator_armed{ORB_ID(actuator_armed)};		///< system armed control topic
-	uORB::Subscription	_t_vehicle_command{ORB_ID(vehicle_command)};		///< vehicle command topic
+	uORB::Subscription	_t_vehicle_command{ORB_ID(vehicle_command)};	///< vehicle command topic
+	uORB::Subscription	_t_vehicle_status{ORB_ID(vehicle_status)};		///< vehicle status topic
 
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
@@ -443,15 +445,14 @@ int PX4IO::init()
 		// the startup script to be able to load a new IO
 		// firmware
 
-		// If IO has already safety off it won't accept going into bootloader mode,
-		// therefore we need to set safety on first.
-		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
-
 		// Now the reboot into bootloader mode should succeed.
 		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, PX4IO_REBOOT_BL_MAGIC);
 		return -1;
 	}
 
+	/* Set safety_off to false when FMU boot*/
+	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SAFETY_OFF, 0);
+
 	if (_max_rc_input > input_rc_s::RC_INPUT_MAX_CHANNELS) {
 		_max_rc_input = input_rc_s::RC_INPUT_MAX_CHANNELS;
 	}
@@ -476,14 +477,6 @@ int PX4IO::init()
 		return ret;
 	}
 
-	/* set safety to off if circuit breaker enabled */
-	if (circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY)) {
-		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
-
-	} else {
-		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
-	}
-
 	/* try to claim the generic PWM output device node as well - it's OK if we fail at this */
 	if (_param_sys_hitl.get() <= 0 && _param_sys_use_io.get() == 1) {
 		_class_instance = register_class_devname(PWM_OUTPUT_BASE_DEVICE_PATH);
@@ -621,11 +614,6 @@ void PX4IO::Run()
 
 			update_params();
 
-			/* Check if the IO safety circuit breaker has been updated */
-			bool circuit_breaker_io_safety_enabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
-			/* Bypass IO safety switch logic by setting FORCE_SAFETY_OFF */
-			io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, circuit_breaker_io_safety_enabled);
-
 			/* Check if the flight termination circuit breaker has been updated */
 			bool disable_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
 			/* Tell IO that it can terminate the flight if FMU is not responding or if a failure has been reported by the FailureDetector logic */
@@ -974,15 +962,12 @@ int PX4IO::io_handle_status(uint16_t status)
 	 */
 
 	/* check for IO reset - force it back to armed if necessary */
-	if (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF && !(status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
-	    && !(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
+	if (!(status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
 		/* set the arming flag */
-		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0,
-				    PX4IO_P_STATUS_FLAGS_SAFETY_OFF | PX4IO_P_STATUS_FLAGS_ARM_SYNC);
+		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0, PX4IO_P_STATUS_FLAGS_ARM_SYNC);
 
 		/* set new status */
 		_status = status;
-		_status &= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
 
 	} else if (!(_status & PX4IO_P_STATUS_FLAGS_ARM_SYNC)) {
 
@@ -999,18 +984,26 @@ int PX4IO::io_handle_status(uint16_t status)
 	}
 
 	/**
-	 * Get and handle the safety status
+	 * Get and handle the safety button status
 	 */
-	const bool safety_off = status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
+	const bool safety_button_pressed = status & PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT;
 
-	/* px4io board will change safety_off from false to true and stay like that until the vehicle is rebooted
-	 * where safety will change back to false. Here we are triggering the safety button event once.
-	 * TODO: change px4io firmware to act on the event. This will enable the "force safety on disarming" feature. */
-	if (_previous_safety_off != safety_off) {
+	if (safety_button_pressed) {
+		io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SAFETY_BUTTON_ACK, 0);
 		_button_publisher.safetyButtonTriggerEvent();
 	}
 
-	_previous_safety_off = safety_off;
+	/**
+	 * Inform PX4IO board about safety_off state for LED control
+	 */
+	vehicle_status_s vehicle_status;
+
+	if (_t_vehicle_status.update(&vehicle_status)) {
+		if (_previous_safety_off != vehicle_status.safety_off) {
+			io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SAFETY_OFF, vehicle_status.safety_off);
+			_previous_safety_off = vehicle_status.safety_off;
+		}
+	}
 
 	return ret;
 }
@@ -1033,37 +1026,17 @@ int PX4IO::dsm_bind_ioctl(int dsmMode)
 		return -EINVAL;
 	}
 
-	// Check if safety was off
-	bool safety_off = (_status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
-	int ret = -1;
-
-	// Put safety on
-	if (safety_off) {
-		// re-enable safety
-		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, PX4IO_P_STATUS_FLAGS_SAFETY_OFF, 0);
-
-		// set new status
-		_status &= ~(PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
-	}
-
 	PX4_INFO("Binding DSM%s RX", (dsmMode == DSM2_BIND_PULSES) ? "2" : ((dsmMode == DSMX_BIND_PULSES) ? "-X" : "-X8"));
 
-	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
+	int ret = OK;
+	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
 	px4_usleep(500000);
-	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
-	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
+	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
+	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
 	px4_usleep(72000);
-	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (dsmMode << 4));
+	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (dsmMode << 4));
 	px4_usleep(50000);
-	io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
-	ret = OK;
-
-	// Put safety back off
-	if (safety_off) {
-		ret = io_reg_modify(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS, 0,
-				    PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
-		_status |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
-	}
+	ret |= io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
 
 	if (ret != OK) {
 		PX4_INFO("Binding DSM failed");
@@ -1133,7 +1106,7 @@ int PX4IO::io_get_status()
 		status.status_arm_sync        = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_ARM_SYNC;
 		status.status_init_ok         = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_INIT_OK;
 		status.status_failsafe        = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_FAILSAFE;
-		status.status_safety_off      = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
+		status.status_safety_button_event = STATUS_FLAGS & PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT;
 
 		// PX4IO_P_STATUS_ALARMS
 		status.alarm_rc_lost       = STATUS_ALARMS & PX4IO_P_STATUS_ALARMS_RC_LOST;
@@ -1644,18 +1617,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(unsigned *)arg = _max_actuators;
 		break;
 
-	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
-		PX4_DEBUG("PWM_SERVO_SET_FORCE_SAFETY_OFF");
-		/* force safety swith off */
-		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_OFF, PX4IO_FORCE_SAFETY_MAGIC);
-		break;
-
-	case PWM_SERVO_SET_FORCE_SAFETY_ON:
-		PX4_DEBUG("PWM_SERVO_SET_FORCE_SAFETY_ON");
-		/* force safety switch on */
-		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
-		break;
-
 	case DSM_BIND_START:
 		/* bind a DSM receiver */
 		ret = dsm_bind_ioctl(arg);
@@ -1725,16 +1686,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 
 		}
 
-		// re-enable safety
-		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
-
-		if (ret != PX4_OK) {
-			PX4_WARN("IO refused to re-enable safety");
-		}
-
-		// set new status
-		_status &= ~(PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
-
 		/* reboot into bootloader - arg must be PX4IO_REBOOT_BL_MAGIC */
 		usleep(1);
 		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_REBOOT_BL, arg);
@@ -2058,29 +2009,6 @@ int PX4IO::custom_command(int argc, char *argv[])
 		return 1;
 	}
 
-
-	if (!strcmp(verb, "safety_off")) {
-		int ret = get_instance()->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
-
-		if (ret != OK) {
-			PX4_ERR("failed to disable safety (%i)", ret);
-			return 1;
-		}
-
-		return 0;
-	}
-
-	if (!strcmp(verb, "safety_on")) {
-		int ret = get_instance()->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_ON, 0);
-
-		if (ret != OK) {
-			PX4_ERR("failed to enable safety (%i)", ret);
-			return 1;
-		}
-
-		return 0;
-	}
-
 	if (!strcmp(verb, "debug")) {
 		if (argc <= 1) {
 			PX4_ERR("usage: px4io debug LEVEL");
@@ -2162,8 +2090,6 @@ Output driver communicating with the IO co-processor.
 	PRINT_MODULE_USAGE_ARG("<filename>", "Firmware file", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("update", "Update IO firmware");
 	PRINT_MODULE_USAGE_ARG("<filename>", "Firmware file", true);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("safety_off", "Turn off safety (force)");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("safety_on", "Turn on safety (force)");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("debug", "set IO debug level");
 	PRINT_MODULE_USAGE_ARG("<debug_level>", "0=disabled, 9=max verbosity", false);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "DSM bind");
diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp
index e1bfc231b0..cc87e8e070 100644
--- a/src/drivers/uavcan/uavcan_main.cpp
+++ b/src/drivers/uavcan/uavcan_main.cpp
@@ -951,8 +951,6 @@ UavcanNode::ioctl(file *filp, int cmd, unsigned long arg)
 	switch (cmd) {
 	case PWM_SERVO_SET_ARM_OK:
 	case PWM_SERVO_CLEAR_ARM_OK:
-	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
-		// these are no-ops, as no safety switch
 		break;
 
 	case MIXERIOCRESET:
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index f1bb34c84c..c22c489987 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -927,7 +927,7 @@ PARAM_DEFINE_INT32(COM_PREARM_MODE, 0);
 /**
  * Enable force safety
  *
- * Force safety when the vehicle disarms. Not supported when safety button used over PX4IO board.
+ * Force safety when the vehicle disarms
  *
  * @boolean
  * @group Commander
diff --git a/src/modules/commander/esc_calibration.cpp b/src/modules/commander/esc_calibration.cpp
index 1f43cc6a4d..865017ac27 100644
--- a/src/modules/commander/esc_calibration.cpp
+++ b/src/modules/commander/esc_calibration.cpp
@@ -187,13 +187,6 @@ static int do_esc_calibration_ioctl(orb_advert_t *mavlink_log_pub)
 		goto Out;
 	}
 
-	/* tell IO to switch off safety without using the safety switch */
-	if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0) != PX4_OK) {
-		calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Unable to force safety off");
-		return_code = PX4_ERROR;
-		goto Out;
-	}
-
 	calibration_log_info(mavlink_log_pub, "[cal] Connect battery now");
 
 	timeout_start = hrt_absolute_time();
@@ -233,9 +226,6 @@ static int do_esc_calibration_ioctl(orb_advert_t *mavlink_log_pub)
 Out:
 
 	if (fd != -1) {
-		if (px4_ioctl(fd, PWM_SERVO_SET_FORCE_SAFETY_ON, 0) != PX4_OK) {
-			calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Safety switch still off");
-		}
 
 		if (px4_ioctl(fd, PWM_SERVO_DISARM, 0) != PX4_OK) {
 			calibration_log_info(mavlink_log_pub, CAL_QGC_FAILED_MSG, "Servos still armed");
diff --git a/src/modules/px4iofirmware/CMakeLists.txt b/src/modules/px4iofirmware/CMakeLists.txt
index 6e4bcdee66..3df90ffdac 100644
--- a/src/modules/px4iofirmware/CMakeLists.txt
+++ b/src/modules/px4iofirmware/CMakeLists.txt
@@ -39,7 +39,7 @@ add_library(px4iofirmware
 	mixer.cpp
 	px4io.cpp
 	registers.c
-	safety.cpp
+	safety_button.cpp
 	serial.cpp
 )
 
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index 2e0e5bb14f..9fc40dcbde 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -134,13 +134,11 @@ mixer_tick()
 	 * FMU or from the mixer.
 	 *
 	 */
-	should_arm = (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)				/* IO initialised without error */
-		     && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)			/* and IO is armed */
+	should_arm = (r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)		/* IO initialised without error */
 		     && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)		/* and FMU is armed */
 		     ;
 
-	should_arm_nothrottle = ((r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)              /* IO initialised without error */
-				 && (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)        /* and IO is armed */
+	should_arm_nothrottle = ((r_status_flags & PX4IO_P_STATUS_FLAGS_INIT_OK)  /* IO initialised without error */
 				 && ((r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_PREARMED)     /* and FMU is prearmed */
 				     || (r_status_flags & PX4IO_P_STATUS_FLAGS_RAW_PWM)       /* or direct PWM is set */
 				    ));
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index 73c82dae9d..a0389d78b4 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2022 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
@@ -114,6 +114,7 @@
 #define PX4IO_P_STATUS_FLAGS_FMU_INITIALIZED	(1 << 11) /* FMU was initialized and OK once */
 #define PX4IO_P_STATUS_FLAGS_RC_ST24		(1 << 12) /* ST24 input is valid */
 #define PX4IO_P_STATUS_FLAGS_RC_SUMD		(1 << 13) /* SUMD input is valid */
+#define PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT	(1 << 14) /* px4io safety button was pressed for longer than 1 second */
 
 #define PX4IO_P_STATUS_ALARMS			3	 /* alarm flags - alarms latch, write 1 to a bit to clear it */
 #define PX4IO_P_STATUS_ALARMS_RC_LOST           (1 << 0) /* timed out waiting for RC input */
@@ -184,12 +185,8 @@ enum {							/* DSM bind states */
 
 #define PX4IO_P_SETUP_CRC			11	/* get CRC of IO firmware */
 /* storage space of 12 occupied by CRC */
-#define PX4IO_P_SETUP_FORCE_SAFETY_OFF		12	/* force safety switch into
-                                                           'armed' (PWM enabled) state - this is a non-data write and
-                                                           hence index 12 can safely be used. */
-
-#define PX4IO_P_SETUP_FORCE_SAFETY_ON		14	/* force safety switch into 'disarmed' (PWM disabled state) */
-#define PX4IO_FORCE_SAFETY_MAGIC		22027	/* required argument for force safety (random) */
+#define PX4IO_P_SETUP_SAFETY_BUTTON_ACK	14	/**< ACK from FMU when it gets safety button pressed status */
+#define PX4IO_P_SETUP_SAFETY_OFF		15	/**< FMU inform PX4IO about safety_off for LED indication*/
 #define PX4IO_P_SETUP_SBUS_RATE			16	/**< frame rate of SBUS1 output in Hz */
 #define PX4IO_P_SETUP_THERMAL			17	/**< thermal management */
 #define PX4IO_P_SETUP_ENABLE_FLIGHTTERMINATION	18	/**< flight termination; false if the circuit breaker (CBRK_FLIGHTTERM) is set */
@@ -212,7 +209,7 @@ enum {							/* DSM bind states */
 #define PX4IO_PAGE_TEST				127
 #define PX4IO_P_TEST_LED			0		/**< set the amber LED on/off */
 
-/* PWM disarmed values that are active, even when SAFETY_SAFE */
+/* PWM disarmed values that are active */
 #define PX4IO_PAGE_DISARMED_PWM			109		/* 0..CONFIG_ACTUATOR_COUNT-1 */
 
 /**
diff --git a/src/modules/px4iofirmware/px4io.cpp b/src/modules/px4iofirmware/px4io.cpp
index 74f6637f46..69527d7bf2 100644
--- a/src/modules/px4iofirmware/px4io.cpp
+++ b/src/modules/px4iofirmware/px4io.cpp
@@ -154,8 +154,7 @@ show_debug_messages(void)
 static void
 update_mem_usage(void)
 {
-	if (/* IO armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
-			   /* and FMU is armed */ && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
+	if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
 		return;
 	}
 
@@ -183,8 +182,7 @@ ring_blink(void)
 {
 #if defined(LED_GREEN)
 
-	if (/* IO armed */ (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF)
-			   /* and FMU is armed */ && (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
+	if (/* FMU is armed */ (r_setup_arming & PX4IO_P_SETUP_ARMING_FMU_ARMED)) {
 		LED_GREEN(true);
 		return;
 	}
@@ -314,8 +312,8 @@ extern "C" __EXPORT int user_start(int argc, char *argv[])
 	ENABLE_SBUS_OUT(false);
 #endif
 
-	/* start the safety switch handler */
-	safety_init();
+	/* start the safety button handler */
+	safety_button_init();
 
 	/* initialise the control inputs */
 	controls_init();
diff --git a/src/modules/px4iofirmware/px4io.h b/src/modules/px4iofirmware/px4io.h
index c8872c8aa0..99cba83e67 100644
--- a/src/modules/px4iofirmware/px4io.h
+++ b/src/modules/px4iofirmware/px4io.h
@@ -131,8 +131,6 @@ extern struct sys_state_s system_state;
 # define ADC_VSERVO			4
 # define ADC_RSSI			5
 
-#define BUTTON_SAFETY		px4_arch_gpioread(GPIO_BTN_SAFETY)
-
 #define PX4_CRITICAL_SECTION(cmd)	{ irqstate_t flags = px4_enter_critical_section(); cmd; px4_leave_critical_section(flags); }
 
 void atomic_modify_or(volatile uint16_t *target, uint16_t modification);
@@ -145,9 +143,9 @@ void atomic_modify_and(volatile uint16_t *target, uint16_t modification);
 extern void	mixer_tick(void);
 
 /**
- * Safety switch/LED.
+ * Safety button/LED.
  */
-extern void	safety_init(void);
+extern void	safety_button_init(void);
 extern void	failsafe_led_init(void);
 
 /**
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index dfe0a6f8ec..a191577ef3 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -413,10 +413,6 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			break;
 
 		case PX4IO_P_SETUP_REBOOT_BL:
-			if (r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) {
-				// don't allow reboot while armed
-				break;
-			}
 
 			// check the magic value
 			if (value != PX4IO_REBOOT_BL_MAGIC) {
@@ -433,22 +429,19 @@ registers_set_one(uint8_t page, uint8_t offset, uint16_t value)
 			dsm_bind(value & 0x0f, (value >> 4) & 0xF);
 			break;
 
-		case PX4IO_P_SETUP_FORCE_SAFETY_ON:
-			if (value == PX4IO_FORCE_SAFETY_MAGIC) {
-				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
-
-			} else {
-				return -1;
-			}
+		case PX4IO_P_SETUP_SAFETY_BUTTON_ACK:
+			// clear safety button pressed flag so it can be used again
+			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT;
 
 			break;
 
-		case PX4IO_P_SETUP_FORCE_SAFETY_OFF:
-			if (value == PX4IO_FORCE_SAFETY_MAGIC) {
+		case PX4IO_P_SETUP_SAFETY_OFF:
+
+			if (value) {
 				r_status_flags |= PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
 
 			} else {
-				return -1;
+				r_status_flags &= ~PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
 			}
 
 			break;
diff --git a/src/modules/px4iofirmware/safety.cpp b/src/modules/px4iofirmware/safety_button.cpp
similarity index 79%
rename from src/modules/px4iofirmware/safety.cpp
rename to src/modules/px4iofirmware/safety_button.cpp
index 1a5eedb7d7..6d4672d5f2 100644
--- a/src/modules/px4iofirmware/safety.cpp
+++ b/src/modules/px4iofirmware/safety_button.cpp
@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file safety.cpp
+ * @file safety_button.cpp
  * Safety button logic.
  *
  * @author Lorenz Meier <lorenz@px4.io>
@@ -46,7 +46,7 @@
 
 #include "px4io.h"
 
-static struct hrt_call arming_call;
+static struct hrt_call safety_button_call;
 static struct hrt_call failsafe_call;
 
 /*
@@ -59,30 +59,23 @@ static unsigned counter = 0;
  * Define the various LED flash sequences for each system state.
  */
 #define LED_PATTERN_FMU_OK_TO_ARM		0x0003			/**< slow blinking			*/
-#define LED_PATTERN_FMU_REFUSE_TO_ARM		0x5555		/**< fast blinking			*/
+#define LED_PATTERN_FMU_REFUSE_TO_ARM	0x5555			/**< fast blinking			*/
 #define LED_PATTERN_IO_ARMED			0x5050			/**< long off, then double blink 	*/
 #define LED_PATTERN_FMU_ARMED			0x5500			/**< long off, then quad blink 		*/
 #define LED_PATTERN_IO_FMU_ARMED		0xffff			/**< constantly on			*/
 
 static unsigned blink_counter = 0;
 
-/*
- * IMPORTANT: The arming state machine critically
- * 	      depends on using the same threshold
- *            for arming and disarming. Since disarming
- *            is quite deadly for the system, a similar
- *            length can be justified.
- */
-#define ARM_COUNTER_THRESHOLD	10
+#define SAFETY_SWITCH_THRESHOLD	10
 
-static void safety_check_button(void *arg);
+static void safety_button_check(void *arg);
 static void failsafe_blink(void *arg);
 
 void
-safety_init(void)
+safety_button_init(void)
 {
 	/* arrange for the button handler to be called at 10Hz */
-	hrt_call_every(&arming_call, 1000, 100000, safety_check_button, NULL);
+	hrt_call_every(&safety_button_call, 1000, 100000, safety_button_check, NULL);
 }
 
 void
@@ -93,26 +86,20 @@ failsafe_led_init(void)
 }
 
 static void
-safety_check_button(void *arg)
+safety_button_check(void *arg)
 {
-	const bool safety_button_pressed = BUTTON_SAFETY;
+	const bool safety_button_pressed = px4_arch_gpioread(GPIO_BTN_SAFETY);
 
-	/* Keep safety button pressed for one second to turn off safety
-	 *
-	 * Note that safety cannot be turned on again by button because a button
-	 * hardware problem could accidentally disable it in flight.
+	/* Keep safety button pressed for one second to trigger safety button event.
+	 * The logic to prevent turning on safety again is in the commander.
 	 */
-	if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_OFF) &&
-	    (r_setup_arming & PX4IO_P_SETUP_ARMING_IO_ARM_OK)) {
 
-		if (counter <= ARM_COUNTER_THRESHOLD) {
-			counter++;
+	if (safety_button_pressed && !(r_status_flags & PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT)) {
 
-		}
+		counter++;
 
-		if (counter == ARM_COUNTER_THRESHOLD) {
-			// switch safety off -> ready to arm state
-			atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_SAFETY_OFF);
+		if (counter >= SAFETY_SWITCH_THRESHOLD) {
+			atomic_modify_or(&r_status_flags, PX4IO_P_STATUS_FLAGS_SAFETY_BUTTON_EVENT);
 		}
 
 	} else {