Loiter mode w/o GPS

Hi everyone! I am very new to drone building and software. Currently I am doing a project that requires my drone to hover at a position without much drifting or movement. I am currently attempting to achieve that using a pixhawk 2.1 with a Lidar lite V3 and a pixycam with a MarkOne v2.0 beacon.

However I am experiencing difficulty in connecting them to the drone and qgroundcontrol. Are there any guides that I could follow or is there anyone who could walk me through the process?