Flight modes with PX4Flow and Lidar Light

I have a 600 quad with pixhawk, PX4Optical Flow and Lidar-Light and everything seems to be working in mission planner, but when i switch to alt hold, loiter, position hold the copter just spins down and basically drops out of the sky. I get no errora in the log that i can find. I have followed all the wikis on setup of the hardware but cant understand why it does this.

Would appreciate some help if anyone has any ideas.

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