From ce96a870ab36c21564338aced0394599ae92d211 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 16 Feb 2024 10:36:51 +1100
Subject: [PATCH] RC_Channel: disable GPS on external AHRS with GPS_DISABLE
---
libraries/RC_Channel/RC_Channel.cpp | 3 +++
1 file changed, 3 insertions(+)
diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp
index 296afb878b..b868d8bb63 100644
--- a/libraries/RC_Channel/RC_Channel.cpp
+++ b/libraries/RC_Channel/RC_Channel.cpp
@@ -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: