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doc:lps:tdoa:protocol [2017-09-06 12:10] arnaud |
doc:lps:tdoa:protocol [2020-05-12 14:02] (current) kimberly |
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+ | <WRAP center round important 60%> | ||
+ | This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https:// | ||
+ | </ | ||
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====== TDoA Anchor protocol V2 ====== | ====== TDoA Anchor protocol V2 ====== | ||
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typedef struct rangePacket_s { | typedef struct rangePacket_s { | ||
uint8_t type; | uint8_t type; | ||
- | uint8_t seqs[NSLOTS]; // Packet sequence number of the timestamps | + | uint8_t seqs[8]; // Packet sequence number of the timestamps |
- | | + | |
- | uint16_t distances[NSLOTS]; | + | uint16_t distances[8]; |
} __attribute__((packed)) rangePacket_t; | } __attribute__((packed)) rangePacket_t; | ||
</ | </ | ||
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===== Calculating TDoA ===== | ===== Calculating TDoA ===== | ||
- | For an example of how to calculate TDoA of packets using this protocol you can look at the Crazyflie source code: https:// | + | [[doc: |
- | + | ||
- | If we consider the 3 last packets sent from anchor 0 and 1: | + | |
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- | {{:doc: | + | |
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- | We can calculate the difference of time of flight (which is the difference of time of arrival, | + | |
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