Am I going to have to add those IMU settings to the voxl-vision-px4.conf like "R_imu_to_body" and "T_imu_wrt_body"? I believe that I'm using the IMU1 but I'm also no sure how to check and see which one is in use currently.

The only thing that we have really modified is the forward distance from the center of gravity which should only be a slight difference. I remember seeing something about changing that in the T_stereo_wrt_body in the voxl-vision-px4 for the collision detection to match the distance from the center of gravity, but that setting does not show up when I look at the voxl-vision-px4, is that what I would need to change to help stabilize my flights?

Since we are attempting to preforming indoor flight using VIO I had disabled the SYS_HAS_MAG and the GPS_1 config like it says in the quickstart guide, so for this reason I didn't have the GPS and magnetometer plugged in. Once I plugged in the GPS and magnetometer the drone had valid position data and we were able to actually fly the drone.

The problem now is that when we flew it (which was outside in the sun which might have caused problems) the drone would take off in position mode very nice for about 5 seconds then it would start to freak out and flying more sporadically which is when we would land the drone. Is this due to the drone being flown outside is the sun or is this some type of calibration issue?

So I've tried completely resetting the parameters on the drone back to factory and reloading all of the parameters again, but I am still getting invalid local position data.

Also as a small side note, should the tracking camera be inverted? (for example, I move an object from the top of the tracking camera and it shows up from the bottom on the feed)

I ran the parameters from the quickstart guide, I also ran the indoor_VIO helper and just changed the aid mask to fit was in the quickstart guide. I reverted it back to its original settings and the drone is still having the same problems.

I couldn't figure out how to share the file through here, so I uploaded them to a drop box:
https://www.dropbox.com/s/7kxknquutoav00i/PX4_Param_Voxl.params?dl=0

It just tells me "REJECT POSITION CONTROL"

In QGC I only have the ODOMETRY data, but there is no local_position_ned tab if that is what you're referring to.

I believe that I have the voxl-vision-px4 setup correctly for QGC, here is the conf file:

yocto:/$ cat /etc/modalai/voxl-vision-px4.conf
/**
 * VOXL Vision PX4 Configuration File
 *
 */
{
	"qgc_ip":	"192.168.8.20",
	"en_localhost_mavlink_udp":	true,
	"en_secondary_qgc":	false,
	"secondary_qgc_ip":	"192.168.1.214",
	"qgc_udp_port_number":	14550,
	"localhost_udp_port_number":	14551,
	"udp_mtu":	512,
	"en_vio":	true,
	"en_voa":	false,
	"en_send_vio_to_qgc":	true,
	"en_send_voa_to_qgc":	false,
	"en_set_clock_from_gps":	true,
	"en_force_onboard_mav1_mode":	true,
	"en_reset_px4_on_error":	true,
	"qvio_auto_reset_quality":	0.00050000002374872565,
	"en_adsb":	false,
	"adsb_uart_bus":	7,
	"adsb_uart_baudrate":	57600,
	"px4_uart_bus":	5,
	"px4_uart_baudrate":	921600,
	"offboard_mode":	"figure_eight",
	"follow_tag_id":	0,
	"en_tag_fixed_frame":	false,
	"fixed_frame_filter_len":	5,
	"en_transform_mavlink_pos_setpoints_from_fixed_frame":	false
}

And here is the output for voxl-inspect-pose vvpx4_body_wrt_local:

timestamp(ms)|     Position (m)     | Roll Pitch Yaw (deg) |    Velocity (m/s)    | angular rate (deg/s) |
      153336 |   0.00  -0.01  -0.09 |   -0.6   11.0   -0.2 |  -0.00   0.00   0.00 |  -0.00  -0.03   0.01 

Yes, but it is very iffy, when I have it sitting on my desk and move it around all of the data changes like it should, but then when I move it to the floor or vice versa then it will start giving me the LOW_FEATURES error

 T_imu_wrt_vio (m)   |Roll Pitch Yaw (deg)| state| error_code
   -0.02   -0.01   -0.07|   0.2    0.4    0.2| OKAY |