- Beakout boards
There has been some recent work on Flying Crazyflie using TDoA measurement. This is still very experimental and not tested a lot but is is already pushed in our github repos. To get your Crazyflie to fly with TDoA position estimation you need to:
The anchor placement is even more important with TDoA. The Crazyflie must fly within the 3D convex hull formed by the anchors. For that reason it is easier to use 8 anchors. With 6 anchors you can place them forming 2 aligned triangle (one on the floor, one one the ceiling). Also since the anchor time are synchronized together it is very important that the anchors have direct line of sight between them.
You can then fly with the same launchfile as before. You can also try the new “dwm_loc_ekf_swarm_hover.launch” which is already setup for 5 Crazyflies. Just edit the top of the file to set the address and channel of your Crazyflies.