How to takeoff without RC?


I’m running PX4 v1.13.1 on a multicopter drone that does not have radio control.

Arming is denied in Commander’s preflight checks due to missing RC (“Arming denied! manual control lost”), because the drone is in MANUAL mode before taking off (which requires RC).

I can try to skip the manual control check by switching to AUTOTAKEOFF or OFFBOARD (because these modes don’t require RC during arming, see update_control_mode method in commander). However according to the docs, switching to these modes require the drone to be armed first.

What is the correct flow to takeoff then (without RC)? Is there an ‘idle’ mode that i can use before arming, instead of MANUAL mode, that will not require RC during prearm checks?