- Beakout boards
This page is outdated and TDoA is now part of the standard functionality.
The loco positioning system TDoA mode allows a tag, ie. the Crazyflie 2.0, to find its position only by listening to the packets transmitted by the anchors. This has the advantage of not putting any hard-limit to the number of tags since adding tags does not add bandwidth requirement to the positioning radios.
To get your Crazyflie to fly with TDoA position estimation you need to:
Note that TDoA is much more sensitive to anchor placement than TWR. It is mostly important that you fly within the convex hull formed by the anchors or as close as possible to it. Going out of the convex hull will quickly reduce the positioning accuracy.
Once TDoA is setup and working, you can fly your Crazyflies using the same scripts both in Python and in ROS as when flying with TWR.