@rdjarvis ,
the RPY between imu_apps and tracking frames is not correct. Please review the following documentation : https://docs.modalai.com/configure-extrinsics/
The IMU has z axis "into the pcb" = down, if you look at the VOXL2 board from top. You have specified rotation 0,0,90, which is just yaw 90 degrees (around z axis). However, the camera is looking straight out, which means the camera's Z axis is where IMU's X axis is.
The RPY should be 0, 90, 90 - please make sure you understand how to calculate it based on the documentation. Let me know if that fixes your issue.
Regarding VIO initialization, it is a bit tricky. When the vehicle initially is not moving, there is no way for VIO to initialize scale (disatance) of all the features for monocular VIO. In order to fully initialize, VIO needs to start moving. Also only when it starts moving, if there are errors in reference frames, they will result in inconsistencies within VIO and it will blow up.
When vio reports quality and features before you start moving, it can be a bit misleading -- VIO is only using partial information to report its state. But it needs to report some "good news", otherwise you would not even take off until your VIO has converged (chicken and egg problem - you need VIO to be converged before you take off, but in order to for vio to converge, it needs to take off..). So, vio evaluates initial quality based on the availability of features that are being tracked without fully localizing them until there is sufficient motion.