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doc:lps:tdoa [2017-11-15 17:08] kristoffer |
doc:lps:tdoa [2021-06-24 16:54] kimberly |
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- | ==== Experimental | + | <WRAP center round important 60%> |
+ | This page has deprecated and will be archived. Please go to [[https:// | ||
+ | </ | ||
+ | ==== Using TDoA mode ==== | ||
- | There has been some work on Flying Crazyflies using TDoA measurements. | + | <WRAP center round important 60%> |
+ | This page is outdated | ||
+ | </ | ||
+ | |||
+ | |||
+ | 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. | ||
- | 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:// | ||
To get your Crazyflie to fly with TDoA position estimation you need to: | To get your Crazyflie to fly with TDoA position estimation you need to: | ||
+ | - Flash the latest master branch of the [[https:// | ||
+ | - Setup your anchors to maximize the size of the convex hull formed by the anchor. This is best achieved by placing 8 anchors on the corners of a [[https:// | ||
+ | - Configure your system following the [[https:// | ||
- 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 " | ||
- | | + | - Compile and use a recent version of the [[https://github.com/ |
- | | + | |
- | + | ||
- | The anchor placement is even more important with TDoA than with TWR. The Crazyflie | + | |
- | If using ROS you can fly with the same launchfile | + | Note that TDoA is much more sensitive to anchor placement than TWR. It is mostly important that you fly within |
+ | 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. |