Ardupilot Copter Simulation with Gazebo

In Gazebo simulations i had to give some throttle to takeoff after arming the copter in order to use GPS based modes. Otherwise, EKF2 does not give
APM: EKF2 IMU0 is using GPS
APM: EKF2 IMU1 is using GPS
I had to takeoff and gain some altitude in order to EKF2 uses GPS.
Is there a way to solve this?
I don’t want to give rc override in the first place in order to able to use GPS modes.
I am currently using ArduCopter V3.7.0-dev (ed160699)

Hello @Mustafa_Gokce, is it possible to have the logs from this flight ?
For the takeoff, do you use the takeoff service or do you just increase the throttle command ?
Is the copter see “GPS satellite” signals before arming ?