Renamed actuator_safety back to actuator_armed, compiling but untested

16 files changed, 185 insertions, 127 deletions

diff --git a/src/modules/commander/commander.c b/src/modules/commander/commander.c
index 2b0b3a415..c4ee605cc 100644
--- a/src/modules/commander/commander.c
+++ b/src/modules/commander/commander.c
@@ -76,9 +76,10 @@
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/subsystem_info.h>
 #include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/differential_pressure.h>
+#include <uORB/topics/safety.h>
 #include <mavlink/mavlink_log.h>
 
 #include <drivers/drv_led.h>
@@ -177,7 +178,7 @@ int led_off(int led);
 void do_reboot(void);
 
 
-void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd, int safety_pub, struct actuator_safety_s *safety);
+void handle_command(int status_pub, struct vehicle_status_s *current_status, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed);
 
 // int trigger_audio_alarm(uint8_t old_mode, uint8_t old_state, uint8_t new_mode, uint8_t new_state);
 
@@ -253,7 +254,7 @@ void do_reboot()
 
 
 
-void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd, int safety_pub, struct actuator_safety_s *safety)
+void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_status, struct vehicle_command_s *cmd, int armed_pub, struct actuator_armed_s *armed)
 {
 	/* result of the command */
 	uint8_t result = VEHICLE_CMD_RESULT_UNSUPPORTED;
@@ -273,13 +274,13 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 			}
 
 			if ((int)cmd->param1 & VEHICLE_MODE_FLAG_SAFETY_ARMED) {
-				if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, safety_pub, safety, mavlink_fd)) {
+				if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) {
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
 				} else {
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
 			} else {
-				if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, safety_pub, safety, mavlink_fd)) {
+				if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) {
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
 				} else {
 					result = VEHICLE_CMD_RESULT_DENIED;
@@ -292,14 +293,14 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 			/* request to arm */
 			if ((int)cmd->param1 == 1) {
-				if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, safety_pub, safety, mavlink_fd)) {
+				if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_ARMED, armed_pub, armed, mavlink_fd)) {
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
 				} else {
 					result = VEHICLE_CMD_RESULT_DENIED;
 				}
 			/* request to disarm */
 			} else if ((int)cmd->param1 == 0) {
-				if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, safety_pub, safety, mavlink_fd)) {
+				if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_STANDBY, armed_pub, armed, mavlink_fd)) {
 					result = VEHICLE_CMD_RESULT_ACCEPTED;
 				} else {
 					result = VEHICLE_CMD_RESULT_DENIED;
@@ -312,7 +313,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 
 			/* request for an autopilot reboot */
 			if ((int)cmd->param1 == 1) {
-					if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_REBOOT, safety_pub, safety, mavlink_fd)) {
+					if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_REBOOT, armed_pub, armed, mavlink_fd)) {
 						/* reboot is executed later, after positive tune is sent */
 						result = VEHICLE_CMD_RESULT_ACCEPTED;
 						tune_positive();
@@ -361,7 +362,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 				if(low_prio_task == LOW_PRIO_TASK_NONE) {
 
 					/* try to go to INIT/PREFLIGHT arming state */
-					if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) {
+					if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
 						result = VEHICLE_CMD_RESULT_ACCEPTED;
 						/* now set the task for the low prio thread */
 						low_prio_task = LOW_PRIO_TASK_GYRO_CALIBRATION;
@@ -380,7 +381,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 				if(low_prio_task == LOW_PRIO_TASK_NONE) {
 
 					/* try to go to INIT/PREFLIGHT arming state */
-					if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) {
+					if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
 						result = VEHICLE_CMD_RESULT_ACCEPTED;
 						/* now set the task for the low prio thread */
 						low_prio_task = LOW_PRIO_TASK_MAG_CALIBRATION;
@@ -400,7 +401,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 			// 	if(low_prio_task == LOW_PRIO_TASK_NONE) {
 
 			// 		/* try to go to INIT/PREFLIGHT arming state */
-			// 		if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) {
+			// 		if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
 			// 			result = VEHICLE_CMD_RESULT_ACCEPTED;
 			// 			/* now set the task for the low prio thread */
 			// 			low_prio_task = LOW_PRIO_TASK_ALTITUDE_CALIBRATION;
@@ -421,7 +422,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 			// 	if(low_prio_task == LOW_PRIO_TASK_NONE) {
 
 			// 		/* try to go to INIT/PREFLIGHT arming state */
-			// 		if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) {
+			// 		if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
 			// 			result = VEHICLE_CMD_RESULT_ACCEPTED;
 			// 			/* now set the task for the low prio thread */
 			// 			low_prio_task = LOW_PRIO_TASK_RC_CALIBRATION;
@@ -441,7 +442,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 				if(low_prio_task == LOW_PRIO_TASK_NONE) {
 
 					/* try to go to INIT/PREFLIGHT arming state */
-					if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) {
+					if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
 						result = VEHICLE_CMD_RESULT_ACCEPTED;
 						/* now set the task for the low prio thread */
 						low_prio_task = LOW_PRIO_TASK_ACCEL_CALIBRATION;
@@ -460,7 +461,7 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
 				if(low_prio_task == LOW_PRIO_TASK_NONE) {
 
 					/* try to go to INIT/PREFLIGHT arming state */
-					if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, safety_pub, safety, mavlink_fd)) {
+					if (OK == arming_state_transition(status_pub, current_vehicle_status, ARMING_STATE_INIT, armed_pub, armed, mavlink_fd)) {
 						result = VEHICLE_CMD_RESULT_ACCEPTED;
 						/* now set the task for the low prio thread */
 						low_prio_task = LOW_PRIO_TASK_AIRSPEED_CALIBRATION;
@@ -734,12 +735,11 @@ int commander_thread_main(int argc, char *argv[])
 	/* make sure we are in preflight state */
 	memset(&current_status, 0, sizeof(current_status));
 
-	/* safety topic */
-	struct actuator_safety_s safety;
-	orb_advert_t safety_pub;
-	/* Initialize safety with all false */
-	memset(&safety, 0, sizeof(safety));
-	
+	/* armed topic */
+	struct actuator_armed_s armed;
+	orb_advert_t armed_pub;
+	/* Initialize armed with all false */
+	memset(&armed, 0, sizeof(armed));
 
 	/* flags for control apps */
 	struct vehicle_control_mode_s control_mode;
@@ -768,8 +768,8 @@ int commander_thread_main(int argc, char *argv[])
 
 	/* set battery warning flag */
 	current_status.battery_warning = VEHICLE_BATTERY_WARNING_NONE;
-	/* set safety device detection flag */
 	
+	/* set safety device detection flag */
 	/* XXX do we need this? */
 	//current_status.flag_safety_present = false;
 
@@ -789,10 +789,7 @@ int commander_thread_main(int argc, char *argv[])
 	orb_publish(ORB_ID(vehicle_status), status_pub, &current_status);
 
 
-	safety_pub = orb_advertise(ORB_ID(actuator_safety), &safety);
-
-	/* but also subscribe to it */
-	int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
+	armed_pub = orb_advertise(ORB_ID(actuator_armed), &armed);
 
 	control_mode_pub = orb_advertise(ORB_ID(vehicle_control_mode), &control_mode);	
 
@@ -844,6 +841,11 @@ int commander_thread_main(int argc, char *argv[])
 	/* XXX what exactly is this for? */
 	uint64_t last_print_time = 0;
 
+	/* Subscribe to safety topic */
+	int safety_sub = orb_subscribe(ORB_ID(safety));
+	struct safety_s safety;
+	memset(&safety, 0, sizeof(safety));
+
 	/* Subscribe to manual control data */
 	int sp_man_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	struct manual_control_setpoint_s sp_man;
@@ -917,7 +919,6 @@ int commander_thread_main(int argc, char *argv[])
 	/* XXX use this! */
 	//uint64_t failsave_ll_start_time = 0;
 
-	enum VEHICLE_MANUAL_SAS_MODE	manual_sas_mode;
 	bool state_changed = true;
 	bool param_init_forced = true;
 
@@ -936,7 +937,7 @@ int commander_thread_main(int argc, char *argv[])
 
 
 			/* update parameters */
-			if (!safety.armed) {
+			if (!armed.armed) {
 				if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
 					warnx("failed setting new system type");
 				}
@@ -990,7 +991,7 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
 
 			/* handle it */
-			handle_command(status_pub, &current_status, &cmd, safety_pub, &safety);
+			handle_command(status_pub, &current_status, &cmd, armed_pub, &armed);
 		}
 		
 
@@ -1003,7 +1004,7 @@ int commander_thread_main(int argc, char *argv[])
 			orb_copy(ORB_ID(parameter_update), param_changed_sub, &param_changed);
 
 			/* update parameters */
-			if (!safety.armed) {
+			if (!armed.armed) {
 				if (param_get(_param_sys_type, &(current_status.system_type)) != OK) {
 					warnx("failed setting new system type");
 				}
@@ -1028,7 +1029,7 @@ int commander_thread_main(int argc, char *argv[])
 		orb_check(safety_sub, &new_data);
 
 		if (new_data) {
-			orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
+			orb_copy(ORB_ID(safety), safety_sub, &safety);
 		}
 
 		/* update global position estimate */
@@ -1170,7 +1171,7 @@ int commander_thread_main(int argc, char *argv[])
 		/* If in INIT state, try to proceed to STANDBY state */
 		if (current_status.arming_state == ARMING_STATE_INIT) {
 			// XXX check for sensors
-			arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd);
+			arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, armed_pub, &armed, mavlink_fd);
 		} else {
 			// XXX: Add emergency stuff if sensors are lost
 		}
@@ -1287,7 +1288,7 @@ int commander_thread_main(int argc, char *argv[])
 				&& (vdop_m < vdop_threshold_m) // XXX note that vdop is 0 for mtk
 				&& !home_position_set
 				&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
-				&& !safety.armed) {
+				&& !armed.armed) {
 				warnx("setting home position");
 
 				/* copy position data to uORB home message, store it locally as well */
@@ -1579,7 +1580,7 @@ int commander_thread_main(int argc, char *argv[])
 								mavlink_log_critical(mavlink_fd, "DISARM DENY, go manual mode first");
 								tune_negative();
 							} else {
-								arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd);
+								arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, armed_pub, &armed, mavlink_fd);
 								tune_positive();
 							}
 							
@@ -1595,13 +1596,12 @@ int commander_thread_main(int argc, char *argv[])
 					}
 				}
 
-				/* check if left stick is in lower right position --> arm */
-				if (current_status.flag_control_manual_enabled &&
-					current_status.manual_sas_mode == VEHICLE_MANUAL_SAS_MODE_ROLL_PITCH_ABS_YAW_ABS &&
+				/* check if left stick is in lower right position and we're in manual --> arm */
+				if (!control_mode.flag_control_position_enabled && !control_mode.flag_control_velocity_enabled &&
 					sp_man.yaw > STICK_ON_OFF_LIMIT &&
 					sp_man.throttle < STICK_THRUST_RANGE * 0.1f) {
 					if (stick_on_counter > STICK_ON_OFF_COUNTER_LIMIT) {
-						arming_state_transition(status_pub, &current_status, ARMING_STATE_ARMED, safety_pub, &safety, mavlink_fd);
+						arming_state_transition(status_pub, &current_status, ARMING_STATE_ARMED, armed_pub, &armed, mavlink_fd);
 						stick_on_counter = 0;
 						tune_positive();
 
@@ -1704,13 +1704,13 @@ int commander_thread_main(int argc, char *argv[])
 
 				// XXX check if this is correct
 				/* arm / disarm on request */
-				if (sp_offboard.armed && !safety.armed) {
+				if (sp_offboard.armed && !armed.armed) {
 
-					arming_state_transition(status_pub, &current_status, ARMING_STATE_ARMED, safety_pub, &safety, mavlink_fd);
+					arming_state_transition(status_pub, &current_status, ARMING_STATE_ARMED, armed_pub, &armed, mavlink_fd);
 
-				} else if (!sp_offboard.armed && safety.armed) {
+				} else if (!sp_offboard.armed && armed.armed) {
 
-					arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, safety_pub, &safety, mavlink_fd);
+					arming_state_transition(status_pub, &current_status, ARMING_STATE_STANDBY, armed_pub, &armed, mavlink_fd);
 				}
 
 			} else {
@@ -1772,7 +1772,7 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* play tone according to evaluation result */
 		/* check if we recently armed */
-		if (!arm_tune_played && safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available))) {
+		if (!arm_tune_played && armed.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available))) {
 			if (tune_arm() == OK)
 				arm_tune_played = true;
 
@@ -1789,7 +1789,7 @@ int commander_thread_main(int argc, char *argv[])
 		}
 
 		/* reset arm_tune_played when disarmed */
-		if (!(safety.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) {
+		if (!(armed.armed && ( !safety.safety_switch_available || (safety.safety_off && safety.safety_switch_available)))) {
 			arm_tune_played = false;
 		}
 
@@ -1812,6 +1812,7 @@ int commander_thread_main(int argc, char *argv[])
 	close(sp_offboard_sub);
 	close(global_position_sub);
 	close(sensor_sub);
+	close(safety_sub);
 	close(cmd_sub);
 
 	warnx("exiting");
diff --git a/src/modules/commander/commander_helper.h b/src/modules/commander/commander_helper.h
index ea96d72a6..b06e85169 100644
--- a/src/modules/commander/commander_helper.h
+++ b/src/modules/commander/commander_helper.h
@@ -43,7 +43,7 @@
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/vehicle_control_mode.h>
 
 
diff --git a/src/modules/commander/state_machine_helper.c b/src/modules/commander/state_machine_helper.c
index c15fc91a0..0b241d108 100644
--- a/src/modules/commander/state_machine_helper.c
+++ b/src/modules/commander/state_machine_helper.c
@@ -57,7 +57,7 @@
 #include "commander_helper.h"
 
 
-int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd) {
+int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int armed_pub, struct actuator_armed_s *armed, const int mavlink_fd) {
 
 
 	int ret = ERROR;
@@ -73,8 +73,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
 				/* allow going back from INIT for calibration */
 				if (current_state->arming_state == ARMING_STATE_STANDBY) {
 					ret = OK;
-					safety->armed = false;
-					safety->ready_to_arm = false;
+					armed->armed = false;
+					armed->ready_to_arm = false;
 				}
 				break;
 			case ARMING_STATE_STANDBY:
@@ -86,8 +86,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
 					/* sensors need to be initialized for STANDBY state */
 					if (current_state->condition_system_sensors_initialized) {
 						ret = OK;
-						safety->armed = false;
-						safety->ready_to_arm = true;
+						armed->armed = false;
+						armed->ready_to_arm = true;
 					} else {
 						mavlink_log_critical(mavlink_fd, "Rej. STANDBY state, sensors not initialized");
 					}
@@ -101,7 +101,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
 
 					/* XXX conditions for arming? */
 					ret = OK;
-					safety->armed = true;
+					armed->armed = true;
 				}
 				break;
 			case ARMING_STATE_ARMED_ERROR:
@@ -111,7 +111,7 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
 					
 					/* XXX conditions for an error state? */
 					ret = OK;
-					safety->armed = true;
+					armed->armed = true;
 				}
 				break;
 			case ARMING_STATE_STANDBY_ERROR:
@@ -120,8 +120,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
 				 || current_state->arming_state == ARMING_STATE_INIT
 				 || current_state->arming_state == ARMING_STATE_ARMED_ERROR) {
 					ret = OK;
-					safety->armed = false;
-					safety->ready_to_arm = false;
+					armed->armed = false;
+					armed->ready_to_arm = false;
 				}
 				break;
 			case ARMING_STATE_REBOOT:
@@ -132,8 +132,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
 				 || current_state->arming_state == ARMING_STATE_STANDBY_ERROR) {
 
 					ret = OK;
-					safety->armed = false;
-					safety->ready_to_arm = false;
+					armed->armed = false;
+					armed->ready_to_arm = false;
 
 				}
 				break;
@@ -151,8 +151,8 @@ int arming_state_transition(int status_pub, struct vehicle_status_s *current_sta
 			current_state->timestamp = hrt_absolute_time();
 			orb_publish(ORB_ID(vehicle_status), status_pub, current_state);
 
-			safety->timestamp = hrt_absolute_time();
-			orb_publish(ORB_ID(actuator_safety), safety_pub, safety);
+			armed->timestamp = hrt_absolute_time();
+			orb_publish(ORB_ID(actuator_armed), armed_pub, armed);
 		}
 	}
 
diff --git a/src/modules/commander/state_machine_helper.h b/src/modules/commander/state_machine_helper.h
index b553a4b56..e591d2fef 100644
--- a/src/modules/commander/state_machine_helper.h
+++ b/src/modules/commander/state_machine_helper.h
@@ -46,11 +46,11 @@
 
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/vehicle_control_mode.h>
 
 
-int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int safety_pub, struct actuator_safety_s *safety, const int mavlink_fd);
+int arming_state_transition(int status_pub, struct vehicle_status_s *current_state, arming_state_t new_arming_state, int armed_pub, struct actuator_armed_s *armed, const int mavlink_fd);
 
 int navigation_state_transition(int status_pub, struct vehicle_status_s *current_state, navigation_state_t new_navigation_state, int control_mode_pub, struct vehicle_control_mode_s *control_mode, const int mavlink_fd);
 
diff --git a/src/modules/gpio_led/gpio_led.c b/src/modules/gpio_led/gpio_led.c
index 97b585cb7..6eb425705 100644
--- a/src/modules/gpio_led/gpio_led.c
+++ b/src/modules/gpio_led/gpio_led.c
@@ -51,7 +51,7 @@
 #include <systemlib/err.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/actuator_armed.h>
 #include <poll.h>
 #include <drivers/drv_gpio.h>
 #include <modules/px4iofirmware/protocol.h>
@@ -63,8 +63,8 @@ struct gpio_led_s {
 	int pin;
 	struct vehicle_status_s status;
 	int vehicle_status_sub;
-	struct actuator_safety_s safety;
-	int actuator_safety_sub;
+	struct actuator_armed_s armed;
+	int actuator_armed_sub;
 	bool led_state;
 	int counter;
 };
@@ -233,12 +233,12 @@ void gpio_led_cycle(FAR void *arg)
 	orb_check(priv->vehicle_status_sub, &status_updated);
 
 	if (status_updated)
-		orb_copy(ORB_ID(actuator_safety), priv->actuator_safety_sub, &priv->safety);
+		orb_copy(ORB_ID(actuator_armed), priv->actuator_armed_sub, &priv->armed);
 
 	/* select pattern for current status */
 	int pattern = 0;
 
-	if (priv->safety.armed) {
+	if (priv->armed.armed) {
 		if (priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
 			pattern = 0x3f;	// ****** solid (armed)
 
@@ -247,10 +247,10 @@ void gpio_led_cycle(FAR void *arg)
 		}
 
 	} else {
-		if (priv->safety.ready_to_arm) {
+		if (priv->armed.ready_to_arm) {
 			pattern = 0x00;	// ______ off (disarmed, preflight check)
 
-		} else if (priv->safety.ready_to_arm && priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
+		} else if (priv->armed.ready_to_arm && priv->status.battery_warning == VEHICLE_BATTERY_WARNING_NONE) {
 			pattern = 0x38;	// ***___ slow blink (disarmed, ready)
 
 		} else {
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index 95bc8fdc0..57a5d5dd5 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -70,7 +70,7 @@ struct vehicle_local_position_s local_pos;
 struct vehicle_status_s v_status;
 struct rc_channels_s rc;
 struct rc_input_values rc_raw;
-struct actuator_safety_s safety;
+struct actuator_armed_s armed;
 struct actuator_controls_effective_s actuators_0;
 struct vehicle_attitude_s att;
 
@@ -110,7 +110,7 @@ static void	l_global_position_setpoint(const struct listener *l);
 static void	l_local_position_setpoint(const struct listener *l);
 static void	l_attitude_setpoint(const struct listener *l);
 static void	l_actuator_outputs(const struct listener *l);
-static void	l_actuator_safety(const struct listener *l);
+static void	l_actuator_armed(const struct listener *l);
 static void	l_manual_control_setpoint(const struct listener *l);
 static void	l_vehicle_attitude_controls(const struct listener *l);
 static void	l_debug_key_value(const struct listener *l);
@@ -135,7 +135,7 @@ static const struct listener listeners[] = {
 	{l_actuator_outputs,		&mavlink_subs.act_1_sub,	1},
 	{l_actuator_outputs,		&mavlink_subs.act_2_sub,	2},
 	{l_actuator_outputs,		&mavlink_subs.act_3_sub,	3},
-	{l_actuator_safety,		&mavlink_subs.safety_sub,	0},
+	{l_actuator_armed,		&mavlink_subs.armed_sub,	0},
 	{l_manual_control_setpoint,	&mavlink_subs.man_control_sp_sub, 0},
 	{l_vehicle_attitude_controls,	&mavlink_subs.actuators_sub,	0},
 	{l_debug_key_value,		&mavlink_subs.debug_key_value,	0},
@@ -269,7 +269,7 @@ l_vehicle_status(const struct listener *l)
 {
 	/* immediately communicate state changes back to user */
 	orb_copy(ORB_ID(vehicle_status), status_sub, &v_status);
-	orb_copy(ORB_ID(actuator_safety), mavlink_subs.safety_sub, &safety);
+	orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
 
 	/* enable or disable HIL */
 	set_hil_on_off(v_status.flag_hil_enabled);
@@ -466,7 +466,7 @@ l_actuator_outputs(const struct listener *l)
 						  act_outputs.output[7]);
 
 		/* only send in HIL mode */
-		if (mavlink_hil_enabled && safety.armed) {
+		if (mavlink_hil_enabled && armed.armed) {
 
 			/* translate the current syste state to mavlink state and mode */
 			uint8_t mavlink_state = 0;
@@ -538,9 +538,9 @@ l_actuator_outputs(const struct listener *l)
 }
 
 void
-l_actuator_safety(const struct listener *l)
+l_actuator_armed(const struct listener *l)
 {
-	orb_copy(ORB_ID(actuator_safety), mavlink_subs.safety_sub, &safety);
+	orb_copy(ORB_ID(actuator_armed), mavlink_subs.armed_sub, &armed);
 }
 
 void
@@ -759,8 +759,8 @@ uorb_receive_start(void)
 	orb_set_interval(mavlink_subs.act_3_sub, 100);	/* 10Hz updates */
 
 	/* --- ACTUATOR ARMED VALUE --- */
-	mavlink_subs.safety_sub = orb_subscribe(ORB_ID(actuator_safety));
-	orb_set_interval(mavlink_subs.safety_sub, 100);	/* 10Hz updates */
+	mavlink_subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+	orb_set_interval(mavlink_subs.armed_sub, 100);	/* 10Hz updates */
 
 	/* --- MAPPED MANUAL CONTROL INPUTS --- */
 	mavlink_subs.man_control_sp_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
diff --git a/src/modules/mavlink/orb_topics.h b/src/modules/mavlink/orb_topics.h
index 3b968b911..506f73105 100644
--- a/src/modules/mavlink/orb_topics.h
+++ b/src/modules/mavlink/orb_topics.h
@@ -60,7 +60,7 @@
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls_effective.h>
 #include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/telemetry_status.h>
 #include <uORB/topics/debug_key_value.h>
@@ -79,6 +79,7 @@ struct mavlink_subscriptions {
 	int man_control_sp_sub;
 	int safety_sub;
 	int actuators_sub;
+	int armed_sub;
 	int local_pos_sub;
 	int spa_sub;
 	int spl_sub;
diff --git a/src/modules/mavlink_onboard/mavlink.c b/src/modules/mavlink_onboard/mavlink.c
index 2d5a64ee8..9ed2c6c12 100644
--- a/src/modules/mavlink_onboard/mavlink.c
+++ b/src/modules/mavlink_onboard/mavlink.c
@@ -273,7 +273,7 @@ void mavlink_update_system(void)
 }
 
 void
-get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety,
+get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed,
 	uint8_t *mavlink_state, uint8_t *mavlink_mode)
 {
 	/* reset MAVLink mode bitfield */
@@ -284,12 +284,12 @@ get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, co
 		*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
 	}
 
-	if (safety->hil_enabled) {
+	if (control_mode->flag_system_hil_enabled) {
 		*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
 	}
 
 	/* set arming state */
-	if (safety->armed) {
+	if (armed->armed) {
 		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
 	} else {
 		*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
@@ -370,7 +370,7 @@ int mavlink_thread_main(int argc, char *argv[])
 	/* XXX this is never written? */
 	struct vehicle_status_s v_status;
 	struct vehicle_control_mode_s control_mode;
-	struct actuator_safety_s safety;
+	struct actuator_armed_s armed;
 
 	/* work around some stupidity in task_create's argv handling */
 	argc -= 2;
@@ -438,7 +438,7 @@ int mavlink_thread_main(int argc, char *argv[])
 			/* translate the current system state to mavlink state and mode */
 			uint8_t mavlink_state = 0;
 			uint8_t mavlink_mode = 0;
-			get_mavlink_mode_and_state(&control_mode, &safety, &mavlink_state, &mavlink_mode);
+			get_mavlink_mode_and_state(&control_mode, &armed, &mavlink_state, &mavlink_mode);
 
 			/* send heartbeat */
 			mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.navigation_state, mavlink_state);
diff --git a/src/modules/mavlink_onboard/orb_topics.h b/src/modules/mavlink_onboard/orb_topics.h
index f01f09e12..1b49c9ce4 100644
--- a/src/modules/mavlink_onboard/orb_topics.h
+++ b/src/modules/mavlink_onboard/orb_topics.h
@@ -56,7 +56,7 @@
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/actuator_controls.h>
-#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/debug_key_value.h>
 #include <drivers/drv_rc_input.h>
diff --git a/src/modules/mavlink_onboard/util.h b/src/modules/mavlink_onboard/util.h
index c6a2e52bf..c84b6fd26 100644
--- a/src/modules/mavlink_onboard/util.h
+++ b/src/modules/mavlink_onboard/util.h
@@ -51,5 +51,5 @@ extern volatile bool thread_should_exit;
  * Translate the custom state into standard mavlink modes and state.
  */
 extern void
-get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_safety_s *safety,
+get_mavlink_mode_and_state(const struct vehicle_control_mode_s *control_mode, const struct actuator_armed_s *armed,
 	uint8_t *mavlink_state, uint8_t *mavlink_mode);
diff --git a/src/modules/multirotor_att_control/multirotor_att_control_main.c b/src/modules/multirotor_att_control/multirotor_att_control_main.c
index 70a61fc4e..20502c0ea 100644
--- a/src/modules/multirotor_att_control/multirotor_att_control_main.c
+++ b/src/modules/multirotor_att_control/multirotor_att_control_main.c
@@ -58,7 +58,7 @@
 #include <uORB/uORB.h>
 #include <drivers/drv_gyro.h>
 #include <uORB/topics/vehicle_control_mode.h>
-#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/vehicle_attitude.h>
 #include <uORB/topics/vehicle_attitude_setpoint.h>
 #include <uORB/topics/manual_control_setpoint.h>
@@ -94,8 +94,8 @@ mc_thread_main(int argc, char *argv[])
 	/* declare and safely initialize all structs */
 	struct vehicle_control_mode_s control_mode;
 	memset(&control_mode, 0, sizeof(control_mode));
-	struct actuator_safety_s safety;
-	memset(&safety, 0, sizeof(safety));
+	struct actuator_armed_s armed;
+	memset(&armed, 0, sizeof(armed));
 	struct vehicle_attitude_s att;
 	memset(&att, 0, sizeof(att));
 	struct vehicle_attitude_setpoint_s att_sp;
@@ -121,7 +121,7 @@ mc_thread_main(int argc, char *argv[])
 	int att_setpoint_sub = orb_subscribe(ORB_ID(vehicle_attitude_setpoint));
 	int setpoint_sub = orb_subscribe(ORB_ID(offboard_control_setpoint));
 	int control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
-	int safety_sub = orb_subscribe(ORB_ID(actuator_safety));
+	int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
 	int manual_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
 	int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
 
@@ -210,10 +210,10 @@ mc_thread_main(int argc, char *argv[])
 					orb_copy(ORB_ID(vehicle_control_mode), control_mode_sub, &control_mode);
 				}
 
-				orb_check(safety_sub, &updated);
+				orb_check(armed_sub, &updated);
 
 				if (updated) {
-					orb_copy(ORB_ID(actuator_safety), safety_sub, &safety);
+					orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
 				}
 
 				/* get a local copy of manual setpoint */
@@ -261,7 +261,7 @@ mc_thread_main(int argc, char *argv[])
 						/* initialize to current yaw if switching to manual or att control */
 						if (control_mode.flag_control_attitude_enabled != flag_control_attitude_enabled ||
 						    control_mode.flag_control_manual_enabled != flag_control_manual_enabled ||
-						    safety.armed != flag_armed) {
+						    armed.armed != flag_armed) {
 							att_sp.yaw_body = att.yaw;
 						}
 
@@ -275,7 +275,7 @@ mc_thread_main(int argc, char *argv[])
 						att_sp.pitch_body = manual.pitch;
 
 						/* set attitude if arming */
-						if (!flag_control_attitude_enabled && safety.armed) {
+						if (!flag_control_attitude_enabled && armed.armed) {
 							att_sp.yaw_body = att.yaw;
 						}
 
@@ -366,7 +366,7 @@ mc_thread_main(int argc, char *argv[])
 				flag_control_manual_enabled = control_mode.flag_control_manual_enabled;
 				flag_control_position_enabled = control_mode.flag_control_position_enabled;
 				flag_control_velocity_enabled = control_mode.flag_control_velocity_enabled;
-				flag_armed = safety.armed;
+				flag_armed = armed.armed;
 
 				perf_end(mc_loop_perf);
 			} /* end of poll call for attitude updates */
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 80ee3adee..b20d38b5e 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -60,7 +60,7 @@
 #include <drivers/drv_hrt.h>
 
 #include <uORB/uORB.h>
-#include <uORB/topics/actuator_safety.h>
+#include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/sensor_combined.h>
 #include <uORB/topics/vehicle_attitude.h>
@@ -194,7 +194,7 @@ static int file_copy(const char *file_old, const char *file_new);
 
 static void handle_command(struct vehicle_command_s *cmd);
 
-static void handle_status(struct actuator_safety_s *safety);
+static void handle_status(struct actuator_armed_s *armed);
 
 /**
  * Create folder for current logging session. Store folder name in 'log_folder'.
@@ -628,8 +628,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 	struct vehicle_status_s buf_status;
 	memset(&buf_status, 0, sizeof(buf_status));
 
-	struct actuator_safety_s buf_safety;
-	memset(&buf_safety, 0, sizeof(buf_safety));
+	struct actuator_armed_s buf_armed;
+	memset(&buf_armed, 0, sizeof(buf_armed));
 
 	/* warning! using union here to save memory, elements should be used separately! */
 	union {
@@ -659,7 +659,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 	struct {
 		int cmd_sub;
 		int status_sub;
-		int safety_sub;
+		int armed_sub;
 		int sensor_sub;
 		int att_sub;
 		int att_sp_sub;
@@ -717,9 +717,9 @@ int sdlog2_thread_main(int argc, char *argv[])
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
-	/* --- SAFETY --- */
-	subs.safety_sub = orb_subscribe(ORB_ID(actuator_safety));
-	fds[fdsc_count].fd = subs.safety_sub;
+	/* --- ACTUATOR ARMED --- */
+	subs.armed_sub = orb_subscribe(ORB_ID(actuator_armed));
+	fds[fdsc_count].fd = subs.armed_sub;
 	fds[fdsc_count].events = POLLIN;
 	fdsc_count++;
 
@@ -896,12 +896,12 @@ int sdlog2_thread_main(int argc, char *argv[])
 				handled_topics++;
 			}
 
-			/* --- SAFETY- LOG MANAGEMENT --- */
+			/* --- ARMED- LOG MANAGEMENT --- */
 			if (fds[ifds++].revents & POLLIN) {
-				orb_copy(ORB_ID(actuator_safety), subs.safety_sub, &buf_safety);
+				orb_copy(ORB_ID(actuator_armed), subs.armed_sub, &buf_armed);
 
 				if (log_when_armed) {
-					handle_status(&buf_safety);
+					handle_status(&buf_armed);
 				}
 
 				handled_topics++;
@@ -912,7 +912,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				orb_copy(ORB_ID(vehicle_status), subs.status_sub, &buf_status);
 
 				//if (log_when_armed) {
-				//	handle_status(&buf_safety);
+				//	handle_status(&buf_armed);
 				//}
 
 				//handled_topics++;
@@ -944,7 +944,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 				log_msg.body.log_STAT.flight_mode = 0;
 				log_msg.body.log_STAT.manual_control_mode = 0;
 				log_msg.body.log_STAT.manual_sas_mode = 0;
-				log_msg.body.log_STAT.armed = (unsigned char) buf_safety.armed; /* XXX fmu armed correct? */
+				log_msg.body.log_STAT.armed = (unsigned char) buf_armed.armed; /* XXX fmu armed correct? */
 				log_msg.body.log_STAT.battery_voltage = buf_status.voltage_battery;
 				log_msg.body.log_STAT.battery_current = buf_status.current_battery;
 				log_msg.body.log_STAT.battery_remaining = buf_status.battery_remaining;
@@ -1348,10 +1348,10 @@ void handle_command(struct vehicle_command_s *cmd)
 	}
 }
 
-void handle_status(struct actuator_safety_s *safety)
+void handle_status(struct actuator_armed_s *armed)
 {
-	if (safety->armed != flag_system_armed) {
-		flag_system_armed = safety->armed;
+	if (armed->armed != flag_system_armed) {
+		flag_system_armed = armed->armed;
 
 		if (flag_system_armed) {
 			sdlog2_start_log();
diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp
index a061fe676..ed77bb7ef 100644
--- a/src/modules/uORB/objects_common.cpp
+++ b/src/modules/uORB/objects_common.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2012, 2013 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
@@ -77,6 +77,9 @@ ORB_DEFINE(home_position, struct home_position_s);
 #include "topics/vehicle_status.h"
 ORB_DEFINE(vehicle_status, struct vehicle_status_s);
 
+#include "topics/safety.h"
+ORB_DEFINE(safety, struct safety_s);
+
 #include "topics/battery_status.h"
 ORB_DEFINE(battery_status, struct battery_status_s);
 
@@ -153,8 +156,8 @@ ORB_DEFINE(actuator_controls_1, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_2, struct actuator_controls_s);
 ORB_DEFINE(actuator_controls_3, struct actuator_controls_s);
 
-#include "topics/actuator_safety.h"
-ORB_DEFINE(actuator_safety, struct actuator_safety_s);
+#include "topics/actuator_armed.h"
+ORB_DEFINE(actuator_armed, struct actuator_armed_s);
 
 /* actuator controls, as set by actuators / mixers after limiting */
 #include "topics/actuator_controls_effective.h"
diff --git a/src/modules/uORB/topics/actuator_safety.h b/src/modules/uORB/topics/actuator_armed.h
index c431217ab..6e944ffee 100644
--- a/src/modules/uORB/topics/actuator_safety.h
+++ b/src/modules/uORB/topics/actuator_armed.h
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013 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
@@ -32,35 +32,27 @@
  ****************************************************************************/
 
 /**
- * @file actuator_controls.h
+ * @file actuator_armed.h
  *
- * Actuator control topics - mixer inputs.
+ * Actuator armed topic
  *
- * Values published to these topics are the outputs of the vehicle control
- * system, and are expected to be mixed and used to drive the actuators
- * (servos, speed controls, etc.) that operate the vehicle.
- *
- * Each topic can be published by a single controller
  */
 
-#ifndef TOPIC_ACTUATOR_SAFETY_H
-#define TOPIC_ACTUATOR_SAFETY_H
+#ifndef TOPIC_ACTUATOR_ARMED_H
+#define TOPIC_ACTUATOR_ARMED_H
 
 #include <stdint.h>
 #include "../uORB.h"
 
 /** global 'actuator output is live' control. */
-struct actuator_safety_s {
+struct actuator_armed_s {
 
 	uint64_t	timestamp;
-	bool	safety_switch_available; /**< Set to true if a safety switch is connected */
-	bool	safety_off;	/**< Set to true if safety is off */
 	bool	armed;		/**< Set to true if system is armed */
 	bool	ready_to_arm;	/**< Set to true if system is ready to be armed */
 	bool	lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
-	bool	hil_enabled;	/**< Set to true if hardware-in-the-loop (HIL) is enabled */
 };
 
-ORB_DECLARE(actuator_safety);
+ORB_DECLARE(actuator_armed);
 
 #endif
\ No newline at end of file
diff --git a/src/modules/uORB/topics/safety.h b/src/modules/uORB/topics/safety.h
new file mode 100644
index 000000000..a5d21cd4a
--- /dev/null
+++ b/src/modules/uORB/topics/safety.h
@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file safety.h
+ *
+ * Safety topic to pass safety state from px4io driver to commander
+ * This concerns only the safety button of the px4io but has nothing to do
+ * with arming/disarming.
+ */
+
+#ifndef TOPIC_SAFETY_H
+#define TOPIC_SAFETY_H
+
+#include <stdint.h>
+#include "../uORB.h"
+
+struct safety_s {
+
+	uint64_t	timestamp;
+	bool	safety_switch_available;	/**< Set to true if a safety switch is connected */
+	bool	safety_off;			/**< Set to true if safety is off */
+};
+
+ORB_DECLARE(safety);
+
+#endif
\ No newline at end of file
diff --git a/src/modules/uORB/topics/vehicle_control_mode.h b/src/modules/uORB/topics/vehicle_control_mode.h
index 177e30898..02bf5568a 100644
--- a/src/modules/uORB/topics/vehicle_control_mode.h
+++ b/src/modules/uORB/topics/vehicle_control_mode.h
@@ -69,9 +69,13 @@ struct vehicle_control_mode_s
 	bool flag_system_emergency;
 	bool flag_preflight_calibration;
 
+	// XXX needs yet to be set by state machine helper
+	bool flag_system_hil_enabled;
+
 	bool flag_control_manual_enabled;		/**< true if manual input is mixed in */
 	bool flag_control_offboard_enabled;		/**< true if offboard control input is on */
-	bool flag_auto_enabled;
+	// XXX shouldn't be necessairy
+	//bool flag_auto_enabled;
 	bool flag_control_rates_enabled;		/**< true if rates are stabilized */
 	bool flag_control_attitude_enabled;		/**< true if attitude stabilization is mixed in */
 	bool flag_control_velocity_enabled;		/**< true if speed (implies direction) is controlled */