As the title states, I have no odometry showing up in QGC, and I'm getting X/Y position error. My voxl-vision-hub and voxl-open-vins-server are all up and running, and I have tested with voxl-inspect-vins and voxl-portal to confirm that features are good and extrinsics are correctly configured. I have attached a copy of my Vision Hub and OpenVins server conf files. I also have all the default params for the indoor no-GPS drone configuration. Here you can see all of the params from this log.

For reference, I am building a custom x8 quad using the VOXL 2 mini as my flight controller with no GPS or mag attached, as it is an indoor drone.

{
        "en_auto_reset":        true,
        "auto_reset_max_velocity":      20,
        "auto_reset_max_v_cov_instant": 0.20000000298023224,
        "auto_reset_max_v_cov": 0.20000000298023224,
        "auto_reset_max_v_cov_timeout_s":       0.5,
        "auto_reset_min_features":      5,
        "auto_reset_min_feature_timeout_s":     10,
        "ok_state_grace_timeout_s":     2,
        "auto_fallback_timeout_s":      3,
        "auto_fallback_min_v":  0.600000023841858,
        "en_cont_yaw_checks":   false,
        "fast_yaw_thresh":      5,
        "fast_yaw_timeout_s":   1.75,
        "yaml_folder":  "/usr/share/modalai/voxl-open-vins/VoxlConfig/custom_tunnel",
        "using_stereo": 0,
        "takeoff_alt_threshold":        0.1,
        "takeoff_occlude_stereo_left":  false,
        "takeoff_occlude_stereo_right": false,
        "sync_config":  true,
        "fusion_rate_dt_ms":    33,
        "imu_body_frame_mode":  true,
        "quality_low_thresh_initial":   15,
        "quality_low_thresh_good":      14,
        "quality_high_thresh":  35,
        "quality_initial_to_bad_count": 20,
        "quality_initial_to_good_count":        50,
        "quality_bad_to_good_count":    60,
        "quality_good_to_bad_count":    45
}

{
        "config_file_version":  1,
        "en_localhost_mavlink_udp":     false,
        "localhost_udp_port_number":    14551,
        "en_vio":       true,
        "vio_pipe":     "ov",
        "secondary_vio_pipe":   "ov",
        "vfc_vio_pipe": "ov",
        "en_reset_vio_if_initialized_inverted": true,
        "vio_warmup_s": 3,
        "send_odom_while_failed":       true,
        "horizon_cal_tolerance":        0.5,
        "en_hitl":      false,
        "offboard_mode":        "vfc",
        "follow_tag_id":        0,
        "figure_eight_move_home":       true,
        "robot_radius": 0.300000011920929,
        "collision_sampling_dt":        0.1,
        "max_lookahead_distance":       1,
        "wps_move_home":        true,
        "wps_stride":   0,
        "wps_timeout":  0,
        "wps_damp":     1,
        "wps_vfc_mission":      true,
        "wps_vfc_mission_loop": false,
        "wps_vfc_mission_to_ramp":      25,
        "wps_vfc_mission_to_kp":        0.10000000149011612,
        "wps_vfc_mission_cruise_speed": 1,
        "tracking_trigger_ch":  12,
        "tracking_trigger_ch_thresh_temp":      1200,
        "tracking_trigger_ch_thresh_new":       1800,
        "en_tag_fixed_frame":   false,
        "fixed_frame_filter_len":       5,
        "en_transform_mavlink_pos_setpoints_from_fixed_frame":  false,
        "en_voa":       false,
        "voa_upper_bound_m":    -0.15000000596046448,
        "voa_lower_bound_m":    0.15000000596046448,
        "voa_voa_memory_s":     1,
        "voa_max_pc_per_fusion":        100,
        "voa_pie_max_dist_m":   20,
        "voa_pie_min_dist_m":   0.25,
        "voa_pie_under_trim_m": 1,
        "voa_pie_threshold":    3,
        "voa_send_rate_hz":     20,
        "voa_pie_slices":       36,
        "voa_pie_bin_depth_m":  0.15000000596046448,
        "voa_inputs":   [{
                        "enabled":      true,
                        "type": "point_cloud",
                        "input_pipe":   "dfs_point_cloud",
                        "frame":        "stereo_l",
                        "max_depth":    8,
                        "min_depth":    0.300000011920929,
                        "cell_size":    0.079999998211860657,
                        "threshold":    4,
                        "x_fov_deg":    68,
                        "y_fov_deg":    56,
                        "conf_cutoff":  0
                }, {
                        "enabled":      true,
                        "type": "point_cloud",
                        "input_pipe":   "stereo_front_pc",
                        "frame":        "stereo_front_l",
                        "max_depth":    8,
                        "min_depth":    0.300000011920929,
                        "cell_size":    0.079999998211860657,
                        "threshold":    4,
                        "x_fov_deg":    68,
                        "y_fov_deg":    56,
                        "conf_cutoff":  0
                }, {
                        "enabled":      true,
                        "type": "point_cloud",
                        "input_pipe":   "stereo_rear_pc",
                        "frame":        "stereo_rear_l",
                        "max_depth":    8,
                        "min_depth":    0.300000011920929,
                        "cell_size":    0.079999998211860657,
                        "threshold":    4,
                        "x_fov_deg":    68,
                        "y_fov_deg":    56,
                        "conf_cutoff":  0
                }, {
                        "enabled":      true,
                        "type": "tof",
                        "input_pipe":   "tof",
                        "frame":        "tof",
                        "max_depth":    6,
                        "min_depth":    0.15000000596046448,
                        "cell_size":    0.079999998211860657,
                        "threshold":    3,
                        "x_fov_deg":    106.5,
                        "y_fov_deg":    85.0999984741211,
                        "conf_cutoff":  125
                }, {
                        "enabled":      true,
                        "type": "rangefinder",
                        "input_pipe":   "rangefinders",
                        "frame":        "body",
                        "max_depth":    8,
                        "min_depth":    0.300000011920929,
                        "cell_size":    0.079999998211860657,
                        "threshold":    4,
                        "x_fov_deg":    68,
                        "y_fov_deg":    56,
                        "conf_cutoff":  0
                }]
}

If anyone has any recommendations, please let me know. I've been stuck on this for a while.

Thanks,
Sam