Ardupilot Mavros Guided no gps takeoff with vision

[kyriacosTsapparellas]

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Issue details

I am trying to build a drone x500 v2 halybro with 6x pixhawk with a companion board the raspberry pi 4.

I have successfully used aruco pose estimation to publish to /mavros/vision_position/pose but I am unable to takeoff the drone with any mode (GUIDED_NOGPS) as I am trying to fly indoors

MAVROS version and platform

Mavros: ?0.18.4?
ROS: ?Kinetic?
Ubuntu: ?16.04?

Autopilot type and version

[x ] ArduPilot
[ ] PX4

Version: ?3.7.1?

Node logs

copy output of mavros_node. Usually console where you run roslaunch

Diagnostics

place here result of:
rostopic echo -n1 /diagnostics

Check ID

rosrun mavros checkid