Pixhawk failsafe chip

Hey guys!

I was actually wondering a little about the failsafe co-processor included on the Pixhawk board.
Can somebody explain me what it does or point me to code that actually runs on this device? Is it being used?

Thank you very much :slight_smile:

The px4iofirmware module runs on the IO coprocessor, and the px4io driver runs in the FMU.
The PX4 flight stack can be configured to run with or without the IO coprocessor: e.g. build target px4fmu-v2 is for FMU+IO and px4fmu-v1 is for FMU only.