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doc:lps:tdoa [2017-12-11 15:23] arnaud |
doc:lps:tdoa [2017-12-18 15:33] arnaud |
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- | ==== Experimental | + | ==== Using TDoA mode ==== |
- | There has been some work on Flying Crazyflies using TDoA measurements. This is still very experimental and not tested a lot but is is already pushed in our github repos. | + | The loco positioning system |
- | 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: | ||
+ | - 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 " | ||
- | - Set the address | + | - Compile and use a recent version |
- | | + | |
- | The anchor placement | + | 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 |
- | + | ||
- | If using ROS you can fly with the same launchfile as before. You can also try the new " | + | |
+ | 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. |