Safety switch by Mavlink

ArduCopter Copter 4.1
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1

Hi!
Can I controll the safety switch of my copter through mavlink messages?
I looked through Ardupilot Params and saw there was a refference to get the state of the safety switch from through Mavlink but there was no Mavlink message to support that.

2

Yes. MAVProxy does this with “arm safetyoff”

3

Yes.
For safety off:

master.mav.set_mode_send(master.target_system, mavutil.mavlink.MAV_MODE_FLAG_DECODE_POSITION_SAFETY, 0)

For safety on:

master.mav.set_mode_send(master.target_system, mavutil.mavlink.MAV_MODE_FLAG_DECODE_POSITION_SAFETY, 1)
4

would the dronekit equivalent for safety on be :

        msg = self.vehicle.message_factory.command_long_encode(0, 0, mavutil.mavlink.MAV_CMD_DO_SET_MODE, 0,
                                                              mavutil.mavlink.MAV_MODE_FLAG_DECODE_POSITION_SAFETY,
                                                              0b00000001, 0, 0, 0, 0, 0)


        self.vehicle.send_mavlink(msg)