We have bought a Pixhawk 2.1 flight controller , and we are working on a university project ; the project is that we have to solve a puzzle by a drone ( which contains a raspberry pi 3 ) and send the right way coordinates to a small car . 
Our problem is that we shouldn’t use any remote controller on the drone . So the drone should fly to a specific altitude and then should start looking for the puzzle and solve it .  
We have tried to use dronekit python . We could connect to the drone by the code but we couldn’t make it arm and take off .
Is Pixhawk 2.1 support arming and take off with out using any ground station or remote control? . If it does we hope that you send us a code and the method . Because we have search a lot and the project dead line is very near .
Thank you for your time ...
To control the drone using raspberry , pixhawk should comminucate with GPS . If you trying to arm it in a closed area probably it wont arm .  Because , your code should contain like "guided" mode it require GPS. If this is not helpful . Test again cominication between rpi and pixhawk
How can I arm and takeoff the drone with Pixhawk and raspberry by dronekit python