Hi,
This is my own designed positioning system, and it is not supported by ArduCopter firmware. I haven’t used MarvelMind system yet, so I don’t have much experience with it. I did read some posts about set up the indoor position system, and they mentioned that you must set GUIDE_NOGPS to use them. Some helpful links for you: marvelmind, indoor loiter
I think that you shouldn’t start with guide mode at beginning. You should try to config your positioning system, then try using them with Alt Hold first, then Loiter so that you can ensure the performance of your positioning system, and get ready to switch to stabilize in case of failure.
In case you interested in using our developing system, you can contact me too 