From 9205416695d6733edcc9ef43ec100728a529f6dd Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 21 Oct 2016 11:53:59 +1100
Subject: [PATCH] Copter: setup default safety mask based on motor mask

---
 ArduCopter/radio.cpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/ArduCopter/radio.cpp b/ArduCopter/radio.cpp
index a4673458e9..2201ff7d1e 100644
--- a/ArduCopter/radio.cpp
+++ b/ArduCopter/radio.cpp
@@ -85,8 +85,17 @@ void Copter::init_rc_out()
 
     // refresh auxiliary channel to function map
     RC_Channel_aux::update_aux_servo_function();
+
+#if FRAME_CONFIG != HELI_FRAME
+    /*
+      setup a default safety ignore mask, so that servo gimbals can be active while safety is on
+     */
+    uint16_t safety_ignore_mask = (~copter.motors.get_motor_mask()) & 0x3FFF;
+    BoardConfig.set_default_safety_ignore_mask(safety_ignore_mask);
+#endif
 }
 
+
 // enable_motor_output() - enable and output lowest possible value to motors
 void Copter::enable_motor_output()
 {