for gps only we have to go over gps with altitude hold. its not possible to switch to gps only without switching to altitude hold befor.

can u edit the switch matrix like this:

AUX2 OFF && AUX1 OFF = Stable Mode (Heading Hold only) AUX2 ON && AUX1 OFF = Altitude Hold only (AP_mode = 3) Yellow LED ON and RED LED OFF AUX2 ON && AUX1 ON = Position & Altitude Hold LEDs both ON (GPS Not Logged - RED LED Flashing) AUX2 OFF && AUX1 ON = Position Hold only (AP_mode = 4) Yellow LED OFF and RED LED ON (GPS Not Logged - RED LED Flashing)

so we can switch gps and baro independently.