Unable to change the flight mode

Hello guys,
I have set the switch modes on transmitter (6 modes ) and when the copter is disarmed and I change the modes(e.g. from stabilize to RTL) ,in the mission planner shows that modes are changed ,
the problem is when the copter is armed:
and I change the modes in transmitter , the modes do not take place in mission planner.( it inly shows stabilize mode and there is an error saying Flight mode change failed)
I don’t understand what could be the problem?
Can any one help me?

Could you tell which mode you tried to switch to once armed?

If you do not have GPS lock, certain flight modes will not be available, and you get that message.

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