So I had trouble getting my Pixhawk to arm without the GPS. All the information I found on this site and online about flying in GPS denied environments only applied for Mission Planner and its APM firmware. After doing some digging on the QGROUNDCONTROL parameters list, I found out how to do it.

Open QGROUDCONTROL v3.2.2

Connect your flight controller to your system and make sure there is connection

Click on the gears on the top left

Click on parameters list

There should be a search bar at the top of the list

Search: 'gps'

Set CBRK_GPSFAIL to 240024. This is the "Circuit breaker for GPS failure detection"

Click save. 

It should ask you to reboot your vehicle. 

Reboot your flight controller and you're set

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