diff --git a/src/main/fc/core.c b/src/main/fc/core.c
index 31400a7a74..8ff491b2f1 100644
--- a/src/main/fc/core.c
+++ b/src/main/fc/core.c
@@ -675,6 +675,7 @@ bool processRx(timeUs_t currentTimeUs)
         && !STATE(FIXED_WING)
         && !featureIsEnabled(FEATURE_3D)
         && !airmodeIsEnabled()
+        && !FLIGHT_MODE(GPS_RESCUE_MODE)  // disable auto-disarm when GPS Rescue is active
     ) {
         if (isUsingSticksForArming()) {
             if (throttleStatus == THROTTLE_LOW) {
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index e02fc2c774..e93f8f2414 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -851,6 +851,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensa
         && ARMING_FLAG(ARMED)
         && !featureIsEnabled(FEATURE_3D)
         && !airmodeEnabled
+        && !FLIGHT_MODE(GPS_RESCUE_MODE)   // disable motor_stop while GPS Rescue is active
         && (rcData[THROTTLE] < rxConfig()->mincheck)) {
         // motor_stop handling
         applyMotorStop();