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doc:lps:configure-mode

Configure LPS positioning mode wirelessly

You can switch the system working mode between TWR and TDoA using a Crazyflie with the loco positioning deck and the Crazyflie client. This page explains the procedure to do so.

Switching mode

Using the client, connect a Crazyflie with a LocoDeck installed. When connected open the Loco Positioning System tab:

  1. Make sure your Crazyflie has good connection and clear line of sight with all the anchors. Ideally place it in the center of the flying space. Make sure that the status of all the anchor is a solid green in the tab.
  2. Using the radio button (2), select the mode on which the system is currently running. TWR or TDoA.
  3. Click the switch buttons (3). The status (1) of all the anchors should switch red.
  4. Using the radio button (2), select the new mode, the anchor status (1) should switch back to green. Your Crazyflie is now getting its position using the new mode!

Trouble shooting

I want my system in TDoA mode but some anchors are left in TWR mode

  1. Select TWR mode using the radio button (2).
  2. Click on the switch button (3). The status (1) of all the anchors still in TWR mode should turn red. You can click on the button (3) multiple if required.
  3. Select TDoA mode using the radio button (2). All anchors should now be in TDoA modes.

I want my system in TWR mode but some anchors are left in TDoA mode

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.

doc/lps/configure-mode.txt · Last modified: 2017-12-19 16:53 by arnaud