HKPilot32 / Pixhawk

I am new to the drone world and i jumped in illiterate to about 95% of it. Can some one please help. Im having 2 or 3 problems. I am using hkpilot32(pixhawk/px4) along with mission planner. My radio is a Flysky FS-TH9X-B. 1St i am having trouble arming. At 1st it would give an error reading 'GPS HIGH HDOP'. I was able to get pass that, now its not arming nor is it giving an error message. I have the left stick all the way down and the right stick held all the way to the right for 5 seconds.2nd, i can not figure out how to assign my flight modes to the toggle switches on my radio.3rd, im using hobbyking V2 telemetry radio set. I have not been able to establish a wireless connection to mission planner. I can only connect via tether.Lastly, is it absolutely necessary to connect to mission planner in order to operate my copter? Shouldn't i be able to just grab my radio & copter go out back and fly around?

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