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doc:lps:tdoa [2017-03-23 17:01] macke created |
doc:lps:tdoa [2017-11-15 17:08] kristoffer |
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==== Experimental TDoA mode ==== | ==== Experimental TDoA mode ==== | ||
- | There has been some recent | + | There has been some work on Flying |
- | - Update the Crazyflie firmware, LPS node firmware and lps-ros project to the latest master branch | + | |
- | - Compile and flash the crazyflie firmware with " | + | Currently anchor positions are not transmitted with the ranging data from the anchors (as in TWR mode) and the anchor positions must either be hardcoded in the Crazyflie firmware (compile time in locodeck.c) or set using the parameter sub system in run time. When using ROS, the anchor positions are usually set in run time. The examples python scripts in [[https:// |
- | - Compile and flash the LPS nodes (anchors) | + | |
+ | To get your Crazyflie to fly with TDoA position estimation you need to: | ||
- Configure the LPS nodes in TDoA by opening the serial console and pressing " | - Configure the LPS nodes in TDoA by opening the serial console and pressing " | ||
- Set the address of the LPS nodes **from 0 to 7**. TDoA works with up to 8 anchors and they much now be addressed from 0 | - Set the address of the LPS nodes **from 0 to 7**. TDoA works with up to 8 anchors and they much now be addressed from 0 | ||
+ | - Compile and flash the Crazyflie firmware with " | ||
- | The anchor placement is even more important with TDoA. The Crazyflie must fly within the 3D [[https:// | + | The anchor placement is even more important with TDoA than with TWR. The Crazyflie must fly within the 3D [[https:// |
- | You can then fly with the same launchfile as before. You can also try the new " | + | If using ROS you can fly with the same launchfile as before. You can also try the new " |