Heat olive oil in a large saucepan over medium heat. Add onion, carrots, red bell pepper, and jalapeno pepper. Cook and stir until tender, about 5 minutes. Add garlic and cook until fragrant, about 2 minutes. Add tomatoes, black beans, chickpeas, quinoa, garlic salt, chili powder, and cumin. Reduce heat to low and cook until quinoa is tender and chili is heated through, 30 minutes to 1 hour.