Auto.takeoff failsafe only have px4flow

Hello, guys

My question is same as my topic title, I try to implement indoor navigated fly so that I dis-enable the GPS.

Currently, I can change flight mode on POSCTL only using px4flow, but I can’t choose takeoff/land mode.

Can anybody help me solve this problem?

I guess maybe I need a lidar or takeoff mode only work in GPS enable, but why ALTHOLD mode can work without GPS.