Unable to switch to any AUTO modes with Copter 4.0.4

Recently I upgraded my Fixhawk from 3.6.9 to 4.1. Test flight was OK until I switched from STAB to POS_HOLD mode. Nothing happened, copter was onli in STAB mode. The same with RTL.
I downloaded log but didn’t find anything I could unveil the ground of my problem.

Autoanalyzer only show this:

Log File C:\Users\lospalos\AppData\Local\Temp\tmp97AC.tmp.log
Size (kb) 13100.6796875
No of lines 124977
Duration 0:02:36
Vehicletype ArduCopter
Firmware Version V4.0.4-rc2
Firmware Hash 93f0c46d
Hardware Type
Free Mem 0
Skipped Lines 0
Test: Autotune = UNKNOWN - No ATUN log data
Test: Brownout = GOOD -
Test: Compass = GOOD - mag_field interference within limits (5.47%)

Test: Dupe Log Data = GOOD -
Test: Empty = GOOD -
Test: Event/Failsafe = FAIL - ERR found: FLT_MODE
Test: GPS = FAIL - Min satellites: 0, Max HDop: 99.99
Test: IMU Mismatch = GOOD - (Mismatch: 0.11, WARN: 0.75, FAIL: 1.50)
Test: Motor Balance = GOOD - Motor channel averages = [1476, 1445, 1489, 1445]
Average motor output = 1463
Difference between min and max motor averages = 44
Test: NaNs = FAIL - Found NaN in CTUN.TAlt
Found NaN in CTUN.DSAlt

Test: OpticalFlow = FAIL - FAIL: no optical flow data

Test: Parameters = FAIL - ‘MAG_ENABLE’ not found
Test: PM = GOOD -
Test: Pitch/Roll = GOOD -
Test: Thrust = GOOD -
Test: VCC = UNKNOWN - No CURR log data

Could somebody help? Link to log file.

Your number of GPS sats is low and your HDOP never goes below 1.28 - so no 3D fix.
The craft doesnt know where it is, so cant use a mode that relies on GPS.
If you want to ensure a 3D fix before takeoff you can try arming in Loiter mode, or set:
FENCE_ALT_MAX,120 <- suit yourself or local law
FENCE_RADIUS,600 <- suit yourself or local laws
And this will ensure you’ve got a good 3D fix before arming.

Thanks for analyse :grinning:
I thought if the GPS status is 3 it means it has an 3D fix. I was wrong on it.