You do not need HA configured. Is VRRP (virtual router redundancy section) needs to be configured the same on both controllers, except for the priority. Then the master redundancy section needs to be configured identically on both controller, except each controller is pointing to the peer ip address of the other controller.
When you do "show vrrp" and "show database synchronize" on each controller is the VRRP showing configured on both and is the database showing synchronization attempts success?