RC Protocol : None/SBUS CRASH

Hello, I was developing a hexacopter.
During the test of taking off in guided mode in an environment without RC and conducting an AUTO mission, the drone crashed as the connection with the RC was in progress.

  • in flight disarm / Motors_interlock_disabled
    error message
    : RC Protocol : NONE

However, if RC PROTOCOL: SBUS is entered when the device is booted

After takeoff in guided mode, the mode can be changed by turning on the transmitter if necessary.

How can we solve this problem?
How are you doing mission flight without sbus input at boot time?

we use Firmware arducopter 4.0.5 X7