I just tried using the GUIDED_NOGPS mode in SITL. It works pretty fine with GPS and compass enabled. However, if I turn GPS and compass off, it seems to work but does not show me the copter on the map. Therefore, I set the origin to some GPS coordinate and after that I only get EKF variance errors and the copter does immediately change to LAND mode. Now, I was wondering what the exact requirements for the GUIDED_NOGPS mode are. I thought it does neither need GPS nor compass.
Hope you can help me with that.