Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

RC_Channel: disable GPS on external AHRS with GPS_DISABLE

This commit is contained in:
Andrew Tridgell 2024-02-16 10:36:51 +11:00 committed by Peter Barker
parent b3689bc244
commit a0f74af407
1 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/RC_Channel/RC_Channel.cpp
View File

@ -1375,6 +1375,9 @@ 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: