diff --git a/simulation/halsim_gui/src/main/native/cpp/CompressorGui.cpp b/simulation/halsim_gui/src/main/native/cpp/CompressorGui.cpp
index 929de6ad2d..737a6f93c1 100644
--- a/simulation/halsim_gui/src/main/native/cpp/CompressorGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/CompressorGui.cpp
@@ -14,6 +14,7 @@
 #include <imgui.h>
 #include <mockdata/PCMData.h>
 
+#include "HALSimGui.h"
 #include "SimDeviceGui.h"
 
 using namespace halsimgui;
@@ -28,7 +29,10 @@ static void DisplayCompressors() {
       HAL_Value value;
 
       // enabled
-      value = HAL_MakeBoolean(HALSIM_GetPCMCompressorOn(i));
+      if (HALSimGui::AreOutputsDisabled())
+        value = HAL_MakeBoolean(false);
+      else
+        value = HAL_MakeBoolean(HALSIM_GetPCMCompressorOn(i));
       if (SimDeviceGui::DisplayValue("Running", false, &value))
         HALSIM_SetPCMCompressorOn(i, value.data.v_boolean);
 
diff --git a/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
index 23afe399e4..79df3dfb05 100644
--- a/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/HALSimGui.cpp
@@ -17,6 +17,7 @@
 #include <imgui_impl_glfw.h>
 #include <imgui_impl_opengl3.h>
 #include <imgui_internal.h>
+#include <mockdata/DriverStationData.h>
 #include <wpi/StringMap.h>
 #include <wpi/raw_ostream.h>
 
@@ -61,6 +62,7 @@ static int gUserScale = 2;
 static int gStyle = 0;
 static constexpr int kScaledFontLevels = 9;
 static ImFont* gScaledFont[kScaledFontLevels];
+static bool gDisableOutputsOnDSDisable = true;
 
 static void glfw_error_callback(int error, const char* description) {
   wpi::errs() << "GLFW Error " << error << ": " << description << '\n';
@@ -126,6 +128,8 @@ static void SimWindowsReadLine(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
       gUserScale = num;
     } else if (name == "style") {
       gStyle = num;
+    } else if (name == "disableOutputsOnDS") {
+      gDisableOutputsOnDSDisable = num;
     }
     return;
   }
@@ -146,9 +150,9 @@ static void SimWindowsWriteAll(ImGuiContext* ctx, ImGuiSettingsHandler* handler,
                                ImGuiTextBuffer* out_buf) {
   out_buf->appendf(
       "[SimWindow][GLOBAL]\nwidth=%d\nheight=%d\nmaximized=%d\n"
-      "xpos=%d\nypos=%d\nuserScale=%d\nstyle=%d\n\n",
+      "xpos=%d\nypos=%d\nuserScale=%d\nstyle=%d\ndisableOutputsOnDS=%d\n",
       gWindowWidth, gWindowHeight, gWindowMaximized, gWindowXPos, gWindowYPos,
-      gUserScale, gStyle);
+      gUserScale, gStyle, gDisableOutputsOnDSDisable ? 1 : 0);
   for (auto&& window : gWindows)
     out_buf->appendf("[SimWindow][%s]\nvisible=%d\nenabled=%d\n\n",
                      window.name.c_str(), window.visible ? 1 : 0,
@@ -244,6 +248,10 @@ void HALSimGui::SetDefaultWindowSize(const char* name, float width,
   window.size = ImVec2{width, height};
 }
 
+bool HALSimGui::AreOutputsDisabled() {
+  return gDisableOutputsOnDSDisable && !HALSIM_GetDriverStationEnabled();
+}
+
 bool HALSimGui::Initialize() {
   // Setup window
   glfwSetErrorCallback(glfw_error_callback);
@@ -432,6 +440,8 @@ void HALSimGui::Main(void*) {
       ImGui::BeginMainMenuBar();
 
       if (ImGui::BeginMenu("Options")) {
+        ImGui::MenuItem("Disable outputs on DS disable", nullptr,
+                        &gDisableOutputsOnDSDisable, true);
         for (auto&& menu : gOptionMenus) {
           if (menu) menu();
         }
@@ -581,4 +591,8 @@ void HALSIMGUI_SetDefaultWindowSize(const char* name, float width,
   HALSimGui::SetDefaultWindowSize(name, width, height);
 }
 
+int HALSIMGUI_AreOutputsDisabled(void) {
+  return HALSimGui::AreOutputsDisabled();
+}
+
 }  // extern "C"
diff --git a/simulation/halsim_gui/src/main/native/cpp/PWMGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PWMGui.cpp
index 6ae7f44c99..8303f04ea5 100644
--- a/simulation/halsim_gui/src/main/native/cpp/PWMGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/PWMGui.cpp
@@ -42,7 +42,7 @@ static void DisplayPWMs() {
 
       char name[32];
       std::snprintf(name, sizeof(name), "PWM[%d]", i);
-      float val = HALSIM_GetPWMSpeed(i);
+      float val = HALSimGui::AreOutputsDisabled() ? 0 : HALSIM_GetPWMSpeed(i);
       ImGui::Value(name, val, "%0.3f");
 
       // lazily build history storage
diff --git a/simulation/halsim_gui/src/main/native/cpp/RelayGui.cpp b/simulation/halsim_gui/src/main/native/cpp/RelayGui.cpp
index ff5db47a1a..a833fffefe 100644
--- a/simulation/halsim_gui/src/main/native/cpp/RelayGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/RelayGui.cpp
@@ -35,8 +35,12 @@ static void DisplayRelays() {
       else
         first = false;
 
-      bool forward = HALSIM_GetRelayForward(i);
-      bool reverse = HALSIM_GetRelayReverse(i);
+      bool forward = false;
+      bool reverse = false;
+      if (!HALSimGui::AreOutputsDisabled()) {
+        reverse = HALSIM_GetRelayReverse(i);
+        forward = HALSIM_GetRelayForward(i);
+      }
 
       ImGui::Text("Relay[%d]", i);
       ImGui::SameLine();
diff --git a/simulation/halsim_gui/src/main/native/cpp/SolenoidGui.cpp b/simulation/halsim_gui/src/main/native/cpp/SolenoidGui.cpp
index f5dc85c681..75712c6d36 100644
--- a/simulation/halsim_gui/src/main/native/cpp/SolenoidGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/SolenoidGui.cpp
@@ -31,7 +31,10 @@ static void DisplaySolenoids() {
     for (int j = 0; j < numChannels; ++j) {
       if (HALSIM_GetPCMSolenoidInitialized(i, j)) {
         anyInit = true;
-        channels[j] = HALSIM_GetPCMSolenoidOutput(i, j) ? 1 : -1;
+        channels[j] = (!HALSimGui::AreOutputsDisabled() &&
+                       HALSIM_GetPCMSolenoidOutput(i, j))
+                          ? 1
+                          : -1;
       } else {
         channels[j] = -2;
       }
diff --git a/simulation/halsim_gui/src/main/native/include/HALSimGui.h b/simulation/halsim_gui/src/main/native/include/HALSimGui.h
index 00bf9b4d88..fd71cbee1e 100644
--- a/simulation/halsim_gui/src/main/native/include/HALSimGui.h
+++ b/simulation/halsim_gui/src/main/native/include/HALSimGui.h
@@ -23,6 +23,7 @@ void HALSIMGUI_SetWindowVisibility(const char* name, int32_t visibility);
 void HALSIMGUI_SetDefaultWindowPos(const char* name, float x, float y);
 void HALSIMGUI_SetDefaultWindowSize(const char* name, float width,
                                     float height);
+int HALSIMGUI_AreOutputsDisabled(void);
 
 }  // extern "C"
 
@@ -125,6 +126,13 @@ class HALSimGui {
    * @param height height
    */
   static void SetDefaultWindowSize(const char* name, float width, float height);
+
+  /**
+   * Returns true if outputs are disabled.
+   *
+   * @return true if outputs are disabled, false otherwise.
+   */
+  static bool AreOutputsDisabled();
 };
 
 }  // namespace halsimgui