Using ArduCopter without any GCS

I want to use a “minimal” version of ArduCopter, wherein I can use it with just R/C and do not want to use any GCS. Is this setup possible? I am using a BeagleBone Blue and have followed this ( guide up till step 20.

As noted in the instructions you will need to download a GCS to at least configure and tune your installation but you can do this through a USB cable.
You don’t need a GCS to fly but having at least telemetry on your radio would be very beneficial.

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