Differences

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

--- doc:lps:tdoa [2017-11-15 17:08]
kristoffer
+++ doc:lps:tdoa [2017-12-11 15:23]
arnaud
@@ Line 8: / Line 8: @@
   - Configure the LPS nodes in TDoA by opening the serial console and pressing "m" for mode and "3" for TDoA mode.
   - 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 "LPS_TDOA_ENABLE=1" in tools/make/config.mk or on the command line. You must also update LOCODECK_NR_OF_ANCHORS in locodeck.h if you are using more than 6 anchors. Depending on your set up, you might want to set anchor positions as well.
+  - Compile and flash the Crazyflie firmware with "LPS_TDOA_ENABLE=1" in tools/make/config.mk or on the command line.
 The anchor placement is even more important with TDoA than with TWR. The Crazyflie must fly within the 3D [[https://en.wikipedia.org/wiki/Convex_hull|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 triangles (one on the floor, one in the ceiling). Also since the anchor times are synchronized together it is very important that the anchors have direct line of sight between them.

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