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Assuming that you have PX4 Firmware somewhere above 1.6.0, you could try to set EKF2_AID_MASK bitmask's least significant bit -which is fuse gps option- to 0 in order to stop fusing GPS. If you're using LPE, you could do a similar thing on its bitmask on LPE_FUSION parameter. You could as well change CBRK_GPSFAIL parameter to 240024 in order for the Pixhawk to ignore checking whether you have GPS receiver or not.