@Alex-Gardner I'm actually having issues at very low altitudes like 1ft off of the ground, both indoor and outdoor. I suspect it is because I'm over bare concrete, however the concrete does have stains and such that the camera should be able to track. I've also had this issue at about 3ft above an asphalt road. Is there any way to make it more reliable? I'm seeing a flight termination rate of about 2-3/10 due to loss of position while using VIO both indoors and outdoors.

@Chad-Sweet Following up on this, I have 2 drones with Flight Deck onboard and they are flying well outside with no GPS, however I have been running into a failure state where VOXL loses position and it just flies off before I manually engage the kill switch. Ultimately I'll be flying indoors, however I need to start just outside a building a go inside. I'm concerned that if I cant rely on VIO outdoors, I will run into issues indoors as well.

Can you go into more detail as to why you would not recommend using only VIO outdoors but you do indoors? I've got contrasting terrain where it should be able to easily find a relative location point without much issue.

I'm having a similar issue, however I'm flying without GPS. Here is a link to the flight log. https://drive.google.com/file/d/1M6CPStOwUeKKQp_SB5lJC9sHLPbxQtTj/view?usp=sharing