I'm really sorry for the late reply.
I got the erle-brain from DIY kit and when I run ./ArduCopter.elf it says the version is 3.4. I've updated the autopilot package to apm-copter-3.5-stable-erlebrain, but the problem still persists, I also update the parameters after I updated the autopilot package with the parameters you gave, with some changes like ahrs_trim_x and y, also I did some tuning on dead zone for alt hold mode. Can you give me some explanation about how battery status and parameters are related (or which parameters are responsible)?
Here's the screenshot I took when I tried to take off with GUIDED_NOGPS:
Also here's parameters I use: https://pastebin.com/SGJchscT
By the way, I've tested the GUIDED mode, but not in the newest autopilot package (I used APM:Copter V3.4-rc2 while doing this test). My test was trying to simulate take off while having the propeller unattached (It was very crowded and I hadn't a chance to get to open area). The drone was successfully armed and take off with the same method I describe in the first post, when I send takeoff command, the motors speeds up, but after 2 seconds, the drone is unarmed and all motors stopped. For this test I changed minimum satellites to take off to 4 (somehow my area isn't really good with those sats, the most sats count I've seen is 8). The message in the MAVProxy was only "DISARMING MOTORS". I initially thought that this was just because the drone didn't actually took off, so after I send "takeoff 2" I lift the drone approximately 1.3 meters, but the behavior is still the same. Is this concerning? If I update the autopilot (which I have but I haven't done this test again with new autopilot) will the problem persists?