"Need Position Estimate" Request

Months ago I asked about constantly with this issue.
Now for the update I realized why.

  1. I disabled compass on my small drone because it just gave too much problems.
  2. So when arming in Poshold or Trying to do auto on the ground it is not possible, because of “need position estimate”.
  3. I got gps HDOP <1 and sat count >10
    For weeks I thought it’s just my gps getting interference.

Then no. It’s actually the drone trying to determine the position without compass.

SO, when I arm in altihold, take off and switch to auto or Poshold, suddenly it works. And It works PERFECTLY. Perhaps the FC is trying to guage the direction using drone movement. But anyway it works beautifully.

I assume from the wiki that arducopter that the drone might take off and behavior like mad man for a couple seconds before getting the position. It didn’t. In fact it works perfectly kudos to the programmers.

Very frustrating but is it possible for us to set it that the drone take off still in Poshold or auto and immediately guaging the direction from gps than needings us to switch to altihold before doing that?