No position hold when taking off in flow/loiter modes

whenever i try to takeoff using loiter or flow mode the quad dosent hot its position but when i
take off in stabilised mode and then in the flight i switch to loiter/flow/poshold it works fine (i am trying to make it fly indoor without GPSlog bin file)

Loiter requires GPS position. Please activate the fence in order to enforce that you can only take off when the signal is present.

If you want to do it indoors without GPS signal read the documentation on the GUIDED_NOGPS flight mode.