Is this possible to plan atonomous flights (without GPS) with positioning system installed inside with QGroundControl?

Is this possible to plan atonomous flights (without GPS) with positioning system installed inside with QGroundControl?

I have a QuadCopter with the following setup:
Pixhawk 6X
PX4 (1.13.3)
ZED box (Companion Computer)
ZED 2i (Local Positioning System)
GPS module not installed

Now I am able to fly it with Remote Control, but I am not sure how can I provide waypoints using the QGroundControl, because the QGC shows the map that is based on the GPS position, but I need the indoor map.

Is this possible to feed the indoor 3D floor plan or 3D floor mapping to QGC?
If possible, how can I change the map of QGC?

My motive is to plan an atonomous mission to fly my drone from point A (room 1) to point B (room 2).

I don’t think that is possible with QGroundControl at the moment. It expects global coordinates.

PX4 doesn’t support mission using local coordinates yet, also see: Navigation Based on Local Coordinates · Issue #9478 · PX4/PX4-Autopilot · GitHub

You would have to use offboard control to use local position control.

I understand why when I use non-GPS VIO, I don’t see the drone’s location in QGC. Still, is there any way I can randomly give a virtual global coordinate to make the drone appear on the map?