Reject Position Hold mode

I pass mocap data for position updates. I faced mocap timeout issues when using lpe. Hence I switched to inav.

When I used to use lpe and pass mocap data imediately the lights on Iris+ used to turn green. This does not happen when using inav. Also I takeoff manually and then try to switch to position hold but pixhawk doesnot go in that mode. Do I need to pass some position data at /mavros/setpoint ? (Pixhawk does enter position control mode)