RC_Channel: disable GPS on external AHRS with GPS_DISABLE

ArduPilot · Feb 15, 2024 · aed5ded · aed5ded
1 parent 9283d03
commit aed5ded
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
@@ -1377,6 +1377,9 @@ bool RC_Channel::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos
 
     case AUX_FUNC::GPS_DISABLE:
         AP::gps().force_disable(ch_flag == AuxSwitchPos::HIGH);
+#if HAL_EXTERNAL_AHRS_ENABLED
+        AP::externalAHRS().set_gnss_disable(ch_flag == AuxSwitchPos::HIGH);
+#endif
         break;
 
     case AUX_FUNC::GPS_DISABLE_YAW: