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

QGroundControl
1

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).

2

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

3

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.