User Tools

Site Tools


doc:lps:configure-mode

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
doc:lps:configure-mode [2017-12-19 16:53]
arnaud
doc:lps:configure-mode [2019-09-05 14:36]
kimberly
Line 1: Line 1:
 +<WRAP center round important 60%>
 +This page is deprecated and is moved to the main Bitcraze website. Please go to [[https://​www.bitcraze.io/​docs/​lps-node-firmware/​master/​configure-mode/​]]
 +</​WRAP>​
 +
 +
 ====== Configure LPS positioning mode wirelessly ====== ====== 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.+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.
  
 ===== Switching mode ===== ===== Switching mode =====
Line 13: Line 18:
   - Click the switch buttons (3). The status (1) of all the anchors should switch red.   - Click the switch buttons (3). The status (1) of all the anchors should switch red.
   - 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!   - 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!
 +
 +==== How it works ====
 +
 +  - The client sends messages to the Crazyflie via the Crazyradio with information of the mode switch for each anchor
 +  - The Crazyflie passes the messages on to the anchors via the LPS (UWB) radio
 +  - The Anchors receive the messages, update their configuration and re-boots for the new configuration to be active
 +
 +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.
  
 ==== Trouble shooting ==== ==== Trouble shooting ====
 +
 +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.
  
 === I want my system in TDoA mode but some anchors are left in TWR mode === === I want my system in TDoA mode but some anchors are left in TWR mode ===
Line 26: Line 42:
 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. 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.
  
 +=== I have a system in mixed modes and I can not get it right ===
  
 +There is always the option to connect each anchor via a USB cable to a computer and change the mode manually.
  
  
doc/lps/configure-mode.txt · Last modified: 2019-09-05 14:36 by kimberly