diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index aec994164b..41fb24efbe 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -1020,14 +1020,14 @@ bool processRx(timeUs_t currentTimeUs)
             DISABLE_FLIGHT_MODE(MAG_MODE);
         }
 #endif
-        if (IS_RC_MODE_ACTIVE(BOXHEADFREE)) {
+        if (IS_RC_MODE_ACTIVE(BOXHEADFREE) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
             if (!FLIGHT_MODE(HEADFREE_MODE)) {
                 ENABLE_FLIGHT_MODE(HEADFREE_MODE);
             }
         } else {
             DISABLE_FLIGHT_MODE(HEADFREE_MODE);
         }
-        if (IS_RC_MODE_ACTIVE(BOXHEADADJ)) {
+        if (IS_RC_MODE_ACTIVE(BOXHEADADJ) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
             if (imuQuaternionHeadfreeOffsetSet()) {
                beeper(BEEPER_RX_SET);
             }