diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt
index b3d4095816..423dc6130b 100644
--- a/msg/CMakeLists.txt
+++ b/msg/CMakeLists.txt
@@ -52,6 +52,7 @@ set(msg_files
 	airspeed_wind.msg
 	autotune_attitude_control_status.msg
 	battery_status.msg
+	button_event.msg
 	camera_capture.msg
 	camera_status.msg
 	camera_trigger.msg
diff --git a/msg/button_event.msg b/msg/button_event.msg
new file mode 100644
index 0000000000..bc745b9017
--- /dev/null
+++ b/msg/button_event.msg
@@ -0,0 +1,6 @@
+uint64 timestamp			# time since system start (microseconds)
+bool triggered				# Set to true if the event is triggered
+
+# TOPICS button_event safety_button
+
+uint8 ORB_QUEUE_LENGTH = 2
\ No newline at end of file
diff --git a/src/drivers/px4io/CMakeLists.txt b/src/drivers/px4io/CMakeLists.txt
index afb5d189fb..6ad4f44ef2 100644
--- a/src/drivers/px4io/CMakeLists.txt
+++ b/src/drivers/px4io/CMakeLists.txt
@@ -43,6 +43,7 @@ px4_add_module(
 		module.yaml
 	DEPENDS
 		arch_px4io_serial
+		button_publisher
 		circuit_breaker
 		mixer_module
 	)
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index d449ea8a41..7927c623e5 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -61,6 +61,7 @@
 #include <lib/perf/perf_counter.h>
 #include <lib/rc/dsm.h>
 #include <lib/systemlib/mavlink_log.h>
+#include <lib/button/ButtonPublisher.hpp>
 
 #include <uORB/Publication.hpp>
 #include <uORB/PublicationMulti.hpp>
@@ -71,7 +72,6 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/input_rc.h>
-#include <uORB/topics/safety.h>
 #include <uORB/topics/vehicle_command.h>
 #include <uORB/topics/vehicle_command_ack.h>
 #include <uORB/topics/px4io_status.h>
@@ -207,10 +207,10 @@ private:
 
 	/* advertised topics */
 	uORB::PublicationMulti<input_rc_s>	_to_input_rc{ORB_ID(input_rc)};
-	uORB::PublicationMulti<safety_s>	_to_safety{ORB_ID(safety)};
 	uORB::Publication<px4io_status_s>	_px4io_status_pub{ORB_ID(px4io_status)};
 
-	safety_s _safety{};
+	ButtonPublisher	_button_publisher;
+	bool _previous_safety_off{false};
 
 	bool			_lockdown_override{false};	///< override the safety lockdown
 
@@ -477,6 +477,9 @@ int PX4IO::init()
 	/* 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 */
@@ -998,17 +1001,15 @@ int PX4IO::io_handle_status(uint16_t status)
 	 */
 	const bool safety_off = status & PX4IO_P_STATUS_FLAGS_SAFETY_OFF;
 
-	// publish immediately on change, otherwise at 1 Hz
-	if ((hrt_elapsed_time(&_safety.timestamp) >= 1_s)
-	    || (_safety.safety_off != safety_off)) {
-
-		_safety.safety_switch_available = true;
-		_safety.safety_off = safety_off;
-		_safety.timestamp = hrt_absolute_time();
-
-		_to_safety.publish(_safety);
+	/* 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) {
+		_button_publisher.safetyButtonTriggerEvent();
 	}
 
+	_previous_safety_off = safety_off;
+
 	return ret;
 }
 
diff --git a/src/drivers/safety_button/CMakeLists.txt b/src/drivers/safety_button/CMakeLists.txt
index f1fb9c3e6b..06083e96a0 100644
--- a/src/drivers/safety_button/CMakeLists.txt
+++ b/src/drivers/safety_button/CMakeLists.txt
@@ -37,6 +37,6 @@ px4_add_module(
 	SRCS
 		SafetyButton.cpp
 	DEPENDS
-		circuit_breaker
+		button_publisher
 		px4_work_queue
 	)
diff --git a/src/drivers/safety_button/SafetyButton.cpp b/src/drivers/safety_button/SafetyButton.cpp
index 8551a37c1a..18034b89cf 100644
--- a/src/drivers/safety_button/SafetyButton.cpp
+++ b/src/drivers/safety_button/SafetyButton.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2019 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
@@ -31,7 +31,6 @@
  *
  ****************************************************************************/
 
-#include <drivers/drv_tone_alarm.h>
 #include "SafetyButton.hpp"
 
 #ifndef GPIO_BTN_SAFETY
@@ -54,11 +53,7 @@ enum class LED_PATTERN : uint16_t {
 SafetyButton::SafetyButton() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default)
 {
-	_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
-
-	if (_safety_disabled) {
-		_safety_btn_off = true;
-	}
+	_has_px4io = PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO);
 }
 
 SafetyButton::~SafetyButton()
@@ -67,33 +62,22 @@ SafetyButton::~SafetyButton()
 }
 
 void
-SafetyButton::CheckButton()
+SafetyButton::CheckSafetyRequest(bool button_pressed)
 {
-	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.
-	 */
-	if (safety_button_pressed && !_safety_btn_off) {
+	/* Keep button pressed for one second to turn off safety */
+	if (button_pressed) {
 
 		if (_button_counter <= CYCLE_COUNT) {
 			_button_counter++;
 		}
 
 		if (_button_counter == CYCLE_COUNT) {
-			// switch safety off -> ready to arm state
-			_safety_btn_off = true;
+			_button_publisher.safetyButtonTriggerEvent();
 		}
 
 	} else {
 		_button_counter = 0;
 	}
-
-	CheckPairingRequest(safety_button_pressed);
-
-	_safety_btn_prev_sate = safety_button_pressed;
 }
 
 void
@@ -108,7 +92,7 @@ SafetyButton::CheckPairingRequest(bool button_pressed)
 		_pairing_button_counter = 0;
 	}
 
-	if (!_safety_btn_prev_sate && button_pressed) {
+	if (!_button_prev_sate && button_pressed) {
 		if (_pairing_start == 0) {
 			_pairing_start = now;
 		}
@@ -116,29 +100,8 @@ SafetyButton::CheckPairingRequest(bool button_pressed)
 		++_pairing_button_counter;
 	}
 
-	if (_pairing_button_counter == 3) {
-		vehicle_command_s vcmd{};
-		vcmd.command = vehicle_command_s::VEHICLE_CMD_START_RX_PAIR;
-		vcmd.param1 = 10.f; // GCS pairing request handled by a companion.
-		vcmd.timestamp = hrt_absolute_time();
-		_to_command.publish(vcmd);
-		PX4_DEBUG("Sending GCS pairing request");
-
-		led_control_s led_control{};
-		led_control.led_mask = 0xff;
-		led_control.mode = led_control_s::MODE_BLINK_FAST;
-		led_control.color = led_control_s::COLOR_GREEN;
-		led_control.num_blinks = 1;
-		led_control.priority = 0;
-		led_control.timestamp = hrt_absolute_time();
-		_to_led_control.publish(led_control);
-
-		tune_control_s tune_control{};
-		tune_control.tune_id = tune_control_s::TUNE_ID_NOTIFY_POSITIVE;
-		tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
-		tune_control.timestamp = hrt_absolute_time();
-		_to_tune_control.publish(tune_control);
-
+	if (_pairing_button_counter == ButtonPublisher::PAIRING_BUTTON_EVENT_COUNT) {
+		_button_publisher.pairingButtonTriggerEvent();
 		// reset state
 		_pairing_start = 0;
 		_pairing_button_counter = 0;
@@ -156,7 +119,7 @@ SafetyButton::FlashButton()
 		LED_PATTERN pattern = LED_PATTERN::FMU_REFUSE_TO_ARM;
 
 		// cycle the blink state machine
-		if (_safety_btn_off) {
+		if (_button_prev_sate) {
 			if (armed.armed) {
 				pattern = LED_PATTERN::IO_FMU_ARMED;
 
@@ -190,25 +153,16 @@ SafetyButton::Run()
 		return;
 	}
 
-	CheckButton();
+	const bool button_pressed = px4_arch_gpioread(GPIO_BTN_SAFETY);
 
-	// control safety switch LED & publish safety topic
-	if (!PX4_MFT_HW_SUPPORTED(PX4_MFT_PX4IO)) {
+	// control safety switch LED & safety button
+	if (!_has_px4io) {
 		FlashButton();
-
-		const bool safety_off = _safety_btn_off || _safety_disabled;
-
-		// publish immediately on change, otherwise at 1 Hz
-		if ((hrt_elapsed_time(&_safety.timestamp) >= 1_s)
-		    || (_safety.safety_off != safety_off)) {
-
-			_safety.safety_switch_available = true;
-			_safety.safety_off = safety_off;
-			_safety.timestamp = hrt_absolute_time();
-
-			_to_safety.publish(_safety);
-		}
+		CheckSafetyRequest(button_pressed);
 	}
+
+	CheckPairingRequest(button_pressed);
+	_button_prev_sate = button_pressed;
 }
 
 int
@@ -248,15 +202,6 @@ SafetyButton::custom_command(int argc, char *argv[])
 	return print_usage("unknown command");
 }
 
-int
-SafetyButton::print_status()
-{
-	PX4_INFO("Safety Disabled: %s", _safety_disabled ? "yes" : "no");
-	PX4_INFO("Safety State (from button): %s", _safety_btn_off ? "off" : "on");
-
-	return 0;
-}
-
 int
 SafetyButton::print_usage(const char *reason)
 {
diff --git a/src/drivers/safety_button/SafetyButton.hpp b/src/drivers/safety_button/SafetyButton.hpp
index 046c7ee9c6..0f38b6ba82 100644
--- a/src/drivers/safety_button/SafetyButton.hpp
+++ b/src/drivers/safety_button/SafetyButton.hpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2019 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
@@ -35,20 +35,10 @@
 
 #include <float.h>
 
-#include <circuit_breaker/circuit_breaker.h>
 #include <drivers/drv_hrt.h>
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/log.h>
 #include <px4_platform_common/module.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
-#include <uORB/Publication.hpp>
-#include <uORB/Subscription.hpp>
-#include <uORB/topics/actuator_armed.h>
-#include <uORB/topics/safety.h>
-#include <uORB/topics/vehicle_command.h>
-#include <uORB/topics/led_control.h>
-#include <uORB/topics/tune_control.h>
+#include <button/ButtonPublisher.hpp>
 
 class SafetyButton : public ModuleBase<SafetyButton>, public px4::ScheduledWorkItem
 {
@@ -65,34 +55,25 @@ public:
 	/** @see ModuleBase */
 	static int print_usage(const char *reason = nullptr);
 
-	/** @see ModuleBase::print_status() */
-	int print_status() override;
-
 	int Start();
 
 private:
 	void Run() override;
 
-	void CheckButton();
-	void FlashButton();
+	void CheckSafetyRequest(bool button_pressed);
 	void CheckPairingRequest(bool button_pressed);
+	void FlashButton();
 
-	uORB::Subscription		_armed_sub{ORB_ID(actuator_armed)};
-	uORB::Publication<safety_s>	_to_safety{ORB_ID(safety)};
-	uORB::Publication<vehicle_command_s>	_to_command{ORB_ID(vehicle_command)};
-	uORB::Publication<led_control_s> _to_led_control{ORB_ID(led_control)};
-	uORB::Publication<tune_control_s> _to_tune_control{ORB_ID(tune_control)};
-
-	safety_s _safety{};
-
-	uint8_t				_button_counter{0};
-	uint8_t				_blink_counter{0};
-	bool				_safety_disabled{false};	///< circuit breaker to disable the safety button
-	bool				_safety_btn_off{false};		///< State of the safety button read from the HW button
-	bool				_safety_btn_prev_sate{false};	///< Previous state of the HW button
+	bool			_has_px4io{false};
+	ButtonPublisher	_button_publisher;
+	uint8_t			_button_counter{0};
+	uint8_t			_blink_counter{0};
+	bool			_button_prev_sate{false};	///< Previous state of the HW button
 
 	// Pairing request
 	hrt_abstime		_pairing_start{0};
-	int			_pairing_button_counter{0};
+	int				_pairing_button_counter{0};
+
+	uORB::Subscription	_armed_sub{ORB_ID(actuator_armed)};
 
 };
diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt
index 9d49cce3bb..c2e826c3a1 100644
--- a/src/drivers/uavcan/CMakeLists.txt
+++ b/src/drivers/uavcan/CMakeLists.txt
@@ -174,6 +174,7 @@ px4_add_module(
 	DEPENDS
 		px4_uavcan_dsdlc
 
+		button_publisher
 		drivers_rangefinder
 		led
 		mixer
diff --git a/src/drivers/uavcan/sensors/safety_button.cpp b/src/drivers/uavcan/sensors/safety_button.cpp
index c42d7fe953..7607df85c4 100644
--- a/src/drivers/uavcan/sensors/safety_button.cpp
+++ b/src/drivers/uavcan/sensors/safety_button.cpp
@@ -38,10 +38,10 @@
 
 const char *const UavcanSafetyButtonBridge::NAME = "safety_button";
 
+using namespace time_literals;
+
 UavcanSafetyButtonBridge::UavcanSafetyButtonBridge(uavcan::INode &node) :
-	UavcanSensorBridgeBase("uavcan_safety_button",
-			       ORB_ID(safety)), // TODO: either multiple publishers or `button_event` uORB topic
-	_sub_button(node)
+	UavcanSensorBridgeBase("uavcan_safety_button", ORB_ID(button_event)), _sub_button(node)
 { }
 
 int UavcanSafetyButtonBridge::init()
@@ -60,14 +60,33 @@ void UavcanSafetyButtonBridge::button_sub_cb(const
 		uavcan::ReceivedDataStructure<ardupilot::indication::Button> &msg)
 {
 	bool is_safety = msg.button == ardupilot::indication::Button::BUTTON_SAFETY;
-	bool pressed = msg.press_time >= 10; // 0.1s increments
+	bool pressed = msg.press_time >= 10; // 0.1s increments (1s press time for safety button trigger event)
 
+	// Detect safety button trigger event
 	if (is_safety && pressed) {
-		safety_s safety = {};
-		safety.timestamp = hrt_absolute_time();
-		safety.safety_switch_available = true;
-		safety.safety_off = true;
-		publish(msg.getSrcNodeID().get(), &safety);
+		_button_publisher.safetyButtonTriggerEvent();
+	}
+
+	// Detect pairing button trigger event
+	if (is_safety) {
+
+		if (hrt_elapsed_time(&_start_timestamp) > 2_s) {
+			_start_timestamp = hrt_absolute_time();
+			_pairing_button_counter = 0u;
+		}
+
+		hrt_abstime press_time_us = (msg.press_time * 100 * 1000);
+		hrt_abstime elasped_time = hrt_elapsed_time(&_new_press_timestamp);
+
+		if (elasped_time > press_time_us) {
+			_pairing_button_counter++;
+			_new_press_timestamp = hrt_absolute_time();
+		}
+
+		if (_pairing_button_counter == ButtonPublisher::PAIRING_BUTTON_EVENT_COUNT) {
+			_button_publisher.pairingButtonTriggerEvent();
+			_start_timestamp = 0u;
+		}
 	}
 }
 
diff --git a/src/drivers/uavcan/sensors/safety_button.hpp b/src/drivers/uavcan/sensors/safety_button.hpp
index f5b3f955a3..74c1ae01f1 100644
--- a/src/drivers/uavcan/sensors/safety_button.hpp
+++ b/src/drivers/uavcan/sensors/safety_button.hpp
@@ -34,7 +34,7 @@
 #pragma once
 
 #include "sensor_bridge.hpp"
-#include <uORB/topics/safety.h>
+#include "button/ButtonPublisher.hpp"
 
 #include <ardupilot/indication/Button.hpp>
 
@@ -61,6 +61,8 @@ private:
 		ButtonCbBinder;
 
 	uavcan::Subscriber<ardupilot::indication::Button, ButtonCbBinder> _sub_button;
-
-
+	ButtonPublisher _button_publisher;
+	uint8_t _pairing_button_counter{0u};
+	hrt_abstime _start_timestamp{0};
+	hrt_abstime _new_press_timestamp{0};
 };
diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt
index dd87dc2dd7..0552b21db7 100644
--- a/src/lib/CMakeLists.txt
+++ b/src/lib/CMakeLists.txt
@@ -35,6 +35,7 @@ add_subdirectory(airspeed)
 add_subdirectory(avoidance)
 add_subdirectory(battery)
 add_subdirectory(bezier)
+add_subdirectory(button)
 add_subdirectory(cdev)
 add_subdirectory(circuit_breaker)
 add_subdirectory(collision_prevention)
diff --git a/src/lib/button/ButtonPublisher.cpp b/src/lib/button/ButtonPublisher.cpp
new file mode 100644
index 0000000000..b3b35a7b3a
--- /dev/null
+++ b/src/lib/button/ButtonPublisher.cpp
@@ -0,0 +1,84 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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
+ * 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 ButtonPublisher.cpp
+ *
+ * Library for button functionality.
+ *
+ */
+
+#include <button/ButtonPublisher.hpp>
+
+using namespace time_literals;
+
+ButtonPublisher::ButtonPublisher()
+{
+	_safety_button_pub.advertise();
+}
+
+void ButtonPublisher::safetyButtonTriggerEvent()
+{
+
+
+	button_event_s safety_button{};
+	safety_button.triggered = true;
+	safety_button.timestamp = hrt_absolute_time();
+
+	_safety_button_pub.publish(safety_button);
+}
+
+void ButtonPublisher::pairingButtonTriggerEvent()
+{
+	vehicle_command_s vcmd{};
+	vcmd.command = vehicle_command_s::VEHICLE_CMD_START_RX_PAIR;
+	vcmd.param1 = 10.f; // GCS pairing request handled by a companion.
+	vcmd.timestamp = hrt_absolute_time();
+	_vehicle_command_pub.publish(vcmd);
+	PX4_DEBUG("Sending GCS pairing request");
+
+	led_control_s led_control{};
+	led_control.led_mask = 0xff;
+	led_control.mode = led_control_s::MODE_BLINK_FAST;
+	led_control.color = led_control_s::COLOR_GREEN;
+	led_control.num_blinks = 1;
+	led_control.priority = 0;
+	led_control.timestamp = hrt_absolute_time();
+	_led_control_pub.publish(led_control);
+
+	tune_control_s tune_control{};
+	tune_control.tune_id = tune_control_s::TUNE_ID_NOTIFY_POSITIVE;
+	tune_control.volume = tune_control_s::VOLUME_LEVEL_DEFAULT;
+	tune_control.timestamp = hrt_absolute_time();
+	_tune_control_pub.publish(tune_control);
+}
diff --git a/src/lib/button/ButtonPublisher.hpp b/src/lib/button/ButtonPublisher.hpp
new file mode 100644
index 0000000000..cea8bb3bb3
--- /dev/null
+++ b/src/lib/button/ButtonPublisher.hpp
@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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
+ * 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 ButtonPublisher.hpp
+ *
+ * Library for button functionality.
+ *
+ */
+
+#pragma once
+
+#include <drivers/drv_tone_alarm.h>
+#include <drivers/drv_hrt.h>
+#include <uORB/Publication.hpp>
+#include <uORB/PublicationMulti.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/actuator_armed.h>
+#include <uORB/topics/button_event.h>
+#include <uORB/topics/vehicle_command.h>
+#include <uORB/topics/led_control.h>
+#include <uORB/topics/tune_control.h>
+
+class ButtonPublisher
+{
+public:
+	ButtonPublisher();
+	~ButtonPublisher() = default;
+
+	/**
+	 * Function for publishing safety button trigger event
+	 */
+	void safetyButtonTriggerEvent();
+
+	/**
+	 * Function for publishing pairing button trigger event
+	 */
+	void pairingButtonTriggerEvent();
+
+	static constexpr uint8_t PAIRING_BUTTON_EVENT_COUNT{3};
+
+private:
+	uORB::Publication<button_event_s>		_safety_button_pub{ORB_ID(safety_button)};
+	uORB::Publication<vehicle_command_s>	_vehicle_command_pub{ORB_ID(vehicle_command)};
+	uORB::Publication<led_control_s> 		_led_control_pub{ORB_ID(led_control)};
+	uORB::Publication<tune_control_s> 		_tune_control_pub{ORB_ID(tune_control)};
+};
diff --git a/src/lib/button/CMakeLists.txt b/src/lib/button/CMakeLists.txt
new file mode 100644
index 0000000000..20afb47d8c
--- /dev/null
+++ b/src/lib/button/CMakeLists.txt
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 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
+# 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.
+#
+############################################################################
+
+px4_add_library(button_publisher ButtonPublisher.cpp)
diff --git a/src/modules/commander/CMakeLists.txt b/src/modules/commander/CMakeLists.txt
index 00e6e84ac8..c6fcb4e5bb 100644
--- a/src/modules/commander/CMakeLists.txt
+++ b/src/modules/commander/CMakeLists.txt
@@ -52,6 +52,7 @@ px4_add_module(
 		lm_fit.cpp
 		mag_calibration.cpp
 		rc_calibration.cpp
+		Safety.cpp
 		state_machine_helper.cpp
 		worker_thread.cpp
 	DEPENDS
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
index 2e1781a38c..61632f6ba0 100644
--- a/src/modules/commander/Commander.cpp
+++ b/src/modules/commander/Commander.cpp
@@ -784,6 +784,10 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool f
 		events::send<events::px4::enums::arm_disarm_reason_t>(events::ID("commander_disarmed_by"), events::Log::Info,
 				"Disarmed by {1}", calling_reason);
 
+		if (_param_com_force_safety.get()) {
+			_safety_handler.enableSafety();
+		}
+
 		_status_changed = true;
 
 	} else if (arming_res == TRANSITION_DENIED) {
@@ -2196,6 +2200,8 @@ Commander::run()
 			}
 		}
 
+		_safety_handler.safetyButtonHandler();
+
 		/* update safety topic */
 		const bool safety_updated = _safety_sub.updated();
 
diff --git a/src/modules/commander/Commander.hpp b/src/modules/commander/Commander.hpp
index 62a3b43b7c..2382b982be 100644
--- a/src/modules/commander/Commander.hpp
+++ b/src/modules/commander/Commander.hpp
@@ -36,6 +36,7 @@
 /*   Helper classes  */
 #include "Arming/PreFlightCheck/PreFlightCheck.hpp"
 #include "failure_detector/FailureDetector.hpp"
+#include "Safety.hpp"
 #include "state_machine_helper.h"
 #include "worker_thread.hpp"
 
@@ -234,6 +235,7 @@ private:
 		(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
 
 		(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
+		(ParamBool<px4::params::COM_FORCE_SAFETY>) _param_com_force_safety,
 		(ParamBool<px4::params::COM_MOT_TEST_EN>) _param_com_mot_test_en,
 
 		(ParamFloat<px4::params::COM_KILL_DISARM>) _param_com_kill_disarm,
@@ -399,6 +401,8 @@ private:
 	vehicle_status_s        _status{};
 	vehicle_status_flags_s  _status_flags{};
 
+	Safety _safety_handler{};
+
 	WorkerThread _worker_thread;
 
 	// Subscriptions
diff --git a/src/modules/commander/Safety.cpp b/src/modules/commander/Safety.cpp
new file mode 100644
index 0000000000..3357ae8b5f
--- /dev/null
+++ b/src/modules/commander/Safety.cpp
@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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
+ * 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.cpp
+ */
+
+#include "Safety.hpp"
+#include <circuit_breaker/circuit_breaker.h>
+
+using namespace time_literals;
+
+Safety::Safety()
+{
+	/*
+	 * Safety can be turned off with the CBRK_IO_SAFETY parameter.
+	 */
+	_safety_disabled = circuit_breaker_enabled("CBRK_IO_SAFETY", CBRK_IO_SAFETY_KEY);
+}
+
+void Safety::safetyButtonHandler()
+{
+	if (_safety_disabled) {
+		_safety.safety_switch_available = true;
+		_safety.safety_off = true;
+
+	} else {
+
+		button_event_s button_event;
+
+		while (_safety_button_sub.update(&button_event)) {
+			_safety.safety_switch_available = true;
+			_safety.safety_off |= button_event.triggered; // triggered safety button activates safety off
+		}
+	}
+
+	// publish immediately on change, otherwise at 1 Hz for logging
+	if ((hrt_elapsed_time(&_safety.timestamp) >= 1_s) ||
+	    (_safety.safety_off != _previous_safety_off)) {
+		_safety.timestamp = hrt_absolute_time();
+		_safety_pub.publish(_safety);
+	}
+
+	_previous_safety_off = _safety.safety_off;
+}
+
+void Safety::enableSafety()
+{
+	_safety.safety_off = false;
+}
diff --git a/src/modules/commander/Safety.hpp b/src/modules/commander/Safety.hpp
new file mode 100644
index 0000000000..3a78aeeefa
--- /dev/null
+++ b/src/modules/commander/Safety.hpp
@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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
+ * 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.hpp
+ */
+
+#pragma once
+
+#include <uORB/SubscriptionMultiArray.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/button_event.h>
+#include <uORB/topics/safety.h>
+
+class Safety
+{
+
+public:
+
+	Safety();
+	~Safety() = default;
+
+	void safetyButtonHandler();
+	void enableSafety();
+
+private:
+
+	uORB::Subscription _safety_button_sub{ORB_ID::safety_button};
+	uORB::Publication<safety_s>	_safety_pub{ORB_ID(safety)};
+
+	safety_s _safety{};
+	bool _safety_disabled{false};
+	bool _previous_safety_off{false};
+};
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 6f02e78aef..17e2ba0254 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -978,6 +978,16 @@ PARAM_DEFINE_INT32(COM_ARM_CHK_ESCS, 0);
  */
 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.
+ *
+ * @boolean
+ * @group Commander
+ */
+PARAM_DEFINE_INT32(COM_FORCE_SAFETY, 0);
+
 /**
  * Enable Motor Testing
  *