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--- doc:lighthouse:setup [2019-11-29 14:20]
kristoffer
+++ doc:lighthouse:setup [2019-11-29 15:29]
kristoffer
@@ Line 153: / Line 153: @@
 You can test if the positioning is working by starting the Crazyflie facing X and using the clients "Position hold" mode, this should drift a little bit (mostly in Z) due to an estimator bug, though you should be able to get a quite stable flight and be able to control the Crazyflie position with the gamepad.
+===== The number of basestations and frame synchronization =====
+The lighthouse deck works with one or two V1 basestations but the estimated position will be better and more stable with two basestations. When using two basestations, one of them may be occluded temporarily, and the Crazyflie will use the other one for positioning.
+The protocol for the lighthouse is composed of frames starting with sync pulses from the basestations. The sync pulses are used to identify which basestation the frame is originating from and this information is essential for correct positioning. When one basestation is occluded, only sync pulses from the visible basestation will be available to the system, which is fine as long as the the system can keep track of the frames. If we loose track of the frames, for instance if both basestations are occluded, the system has to re-synch again to function, but this is a quick process when the basestations are visible.
+Due to the design of the lighthouse protocol, visibility to both basestations is always required for synchronization or re-synchronization in a two basestation system.

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