diff --git a/libraries/AP_HAL_PX4/RCOutput.cpp b/libraries/AP_HAL_PX4/RCOutput.cpp
index b46326a01a..da70237216 100644
--- a/libraries/AP_HAL_PX4/RCOutput.cpp
+++ b/libraries/AP_HAL_PX4/RCOutput.cpp
@@ -58,7 +58,7 @@ void PX4RCOutput::init(void* unused)
     }
 #ifdef PWM_SERVO_SET_ARM_OK
     if (ioctl(_alt_fd, PWM_SERVO_SET_ARM_OK, 0) != 0) {
-        hal.console->printf("RCOutput: Unable to setup IO arming OK\n");
+        hal.console->printf("RCOutput: Unable to setup alt IO arming OK\n");
     }
 #endif
     if (ioctl(_alt_fd, PWM_SERVO_GET_COUNT, (unsigned long)&_alt_servo_count) != 0) {
@@ -148,6 +148,24 @@ void PX4RCOutput::disable_mask(uint32_t chmask)
     // channels are always enabled ...
 }
 
+void PX4RCOutput::set_safety_pwm(uint32_t chmask, uint16_t period_us)
+{
+    struct pwm_output_values pwm_values;
+    memset(&pwm_values, 0, sizeof(pwm_values));
+    for (uint8_t i=0; i<_servo_count; i++) {
+        if ((1UL<<i) & chmask) {
+            pwm_values.values[i] = period_us;
+        }
+        pwm_values.channel_count++;
+    }
+    int ret = ioctl(_pwm_fd, PWM_SERVO_SET_DISARMED_PWM, (long unsigned int)&pwm_values);
+    if (ret != OK) {
+        hal.console->printf("Failed to setup disarmed PWM for 0x%08x to %u\n", (unsigned)chmask, period_us);
+    } else {
+        hal.console->printf("Setup disarmed PWM for 0x%08x to %u\n", (unsigned)chmask, period_us);
+    }
+}
+
 void PX4RCOutput::write(uint8_t ch, uint16_t period_us)
 {
     if (ch >= _servo_count + _alt_servo_count) {
diff --git a/libraries/AP_HAL_PX4/RCOutput.h b/libraries/AP_HAL_PX4/RCOutput.h
index bb92d7192d..10f9bed0d1 100644
--- a/libraries/AP_HAL_PX4/RCOutput.h
+++ b/libraries/AP_HAL_PX4/RCOutput.h
@@ -21,6 +21,7 @@ public:
     void     write(uint8_t ch, uint16_t* period_us, uint8_t len);
     uint16_t read(uint8_t ch);
     void     read(uint16_t* period_us, uint8_t len);
+    void     set_safety_pwm(uint32_t chmask, uint16_t period_us);
 
     void _timer_tick(void);