- Beakout boards
You can switch the system working mode between TWR, TDoA2 and TDoA3 using a Crazyflie with the loco positioning deck and the Crazyflie client. This page explains the procedure to do so.
Using the client, connect a Crazyflie with a LocoDeck installed. When connected open the Loco Positioning System tab:
The communication from Crazyflie to anchor is somewhat unreliable and there is no back channel that verifies that the mode switch has been executed. Please make sure all anchors actually changed mode by checking that all the anchor status boxes are green. In a physically large system, the LPS radio may not reach all anchors and this method will not work at all.
If some of the status boxes do not go back to green after the switching procedure, it indicates that the anchors did not change mode and you have a system with mixed modes. A system with mixed modes will not work.
To change anchors from TDoA to TWR it is very important that the master anchor, anchor 0, is still in TDoA mode. If it is not the case you can switch the system back to TDoA before attempting to switch to TWR again.
There is always the option to connect each anchor via a USB cable to a computer and change the mode manually.