GPS and AHRS Error Despite 3D GPS Lock

I’m trying to run obstacle avoidance nodes on offboard and stabilize mode, and my drone runs perfectly on Manual Mode. However, QGC refuses to allow a mode switch to offboard or stabilize mode, where I want to run and test my obstacle avoidance nodes. I’m getting about 13 GPS satellites, 3D signal lock, but it continues to say GPS and AHRS error. What can be done to fix this? Is there a parameter I can change to force the mode to switch?

Here is a link to the plots generated from the log files: