diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.cpp b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
index b42c8d7c22..c8c09e55a4 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.cpp
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.cpp
@@ -168,3 +168,12 @@ void AP_BoardConfig::init()
     hal.util->set_imu_target_temp((int8_t *)&_imu_target_temperature);
 #endif
 }
+
+// set default value for BRD_SAFETY_MASK
+void AP_BoardConfig::set_default_safety_ignore_mask(uint16_t mask)
+{
+#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
+    px4.ignore_safety_channels.set_default(mask);
+    px4_setup_safety_mask();
+#endif
+}
diff --git a/libraries/AP_BoardConfig/AP_BoardConfig.h b/libraries/AP_BoardConfig/AP_BoardConfig.h
index 668c873fcd..114183fb17 100644
--- a/libraries/AP_BoardConfig/AP_BoardConfig.h
+++ b/libraries/AP_BoardConfig/AP_BoardConfig.h
@@ -58,7 +58,10 @@ public:
 #endif
     };
 #endif
-        
+
+    // set default value for BRD_SAFETY_MASK
+    void set_default_safety_ignore_mask(uint16_t mask);
+    
 private:
     AP_Int16 vehicleSerialNumber;
 
@@ -81,6 +84,7 @@ private:
     void px4_setup(void);
     void px4_setup_pwm(void);
     void px4_setup_safety(void);
+    void px4_setup_safety_mask(void);
     void px4_setup_uart(void);
     void px4_setup_sbus(void);
     void px4_setup_canbus(void);
diff --git a/libraries/AP_BoardConfig/px4_drivers.cpp b/libraries/AP_BoardConfig/px4_drivers.cpp
index 9a65a0ecb0..5c48c45126 100644
--- a/libraries/AP_BoardConfig/px4_drivers.cpp
+++ b/libraries/AP_BoardConfig/px4_drivers.cpp
@@ -132,7 +132,7 @@ void AP_BoardConfig::px4_setup_uart()
 /*
   setup safety switch
  */
-void AP_BoardConfig::px4_setup_safety()
+void AP_BoardConfig::px4_setup_safety_mask()
 {
 #if CONFIG_HAL_BOARD == HAL_BOARD_PX4
     // setup channels to ignore the armed state
@@ -157,6 +157,14 @@ void AP_BoardConfig::px4_setup_safety()
         close(px4io_fd);
     }
 #endif
+}
+
+/*
+  setup safety switch
+ */
+void AP_BoardConfig::px4_setup_safety()
+{
+    px4_setup_safety_mask();
 
     if (px4.safety_enable.get() == 0) {
         hal.rcout->force_safety_off();