Which should disable GPS inputs and allow you to fly indoors. Just remember to set it back to use GPS when you want to fly outdoors. As Modal mentions, take appropriate safety precautions whens flying indoors even with VIO enabled.

@Chad-Sweet, thank you so much for the response.

After trying the MAV outside, the error does not go away, and even when inside, the error pops up while QGC shows that there the MAV is being seen by 8-11 satellites. We, also, would like to fly inside so we can use motion capture to record ground-truth data to compare with the VIO data & our state-estimation algorithms, so being able to fly inside is important. (We have been following every guideline and more to make sure everything is safe, though)

Is there any way that we would be able to disable the GPS requirement/functionality before flight? Just removing the connector does not work since the MAV then gives an error about the magnetometer not reading correctly. Thank you so much again!

I'm also having this problem. Did you manage to resolve this?

After trying the MAV outside, the error does not go away, and even when inside, the error pops up while QGC shows that there the MAV is being seen by 8-11 satellites. We, also, would like to fly inside so we can use motion capture to record ground-truth data to compare with the VIO data & our state-estimation algorithms, so being able to fly inside is important. (We have been following every guideline and more to make sure everything is safe, though)

Is there any way that we would be able to disable the GPS requirement/functionality before flight? Just removing the connector does not work since the MAV then gives an error about the magnetometer not reading correctly. Thank you so much again!

As always, please be careful! Flying indoors can be dangerous, we have safety tips here