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doc:lps:toda3 [2018-05-11 15:06]
kristoffer 		doc:lps:toda3 [2018-06-13 13:52]
kristoffer
Line 3: Line 3:
 <WRAP center round tip 80%> <WRAP center round tip 80%>
 **NOTE** **NOTE**
-The TDoA3 mode is experimental and the code is unstable or might not yet work at all+The TDoA3 mode is experimental. The protocol and implementation might change but is fairly stable.
 </WRAP> </WRAP>
  
 To try it out you will have to do the following: To try it out you will have to do the following:
 +
 +===== The Crazyflie =====
 +
 +  * Get the latest source code for the firmware from [[https://github.com/bitcraze/crazyflie-firmware]]. Make sure the git submodules are updated
 +  * Compile for TDoA3 and force the TDoA mode with ''make "EXTRA_CFLAGS=-DLPS_TDOA_USE_V3 -DLPS_TDOA_ENABLE"''
 +  * Flash the Crazyflie with ''make cload'' script.
  
 ===== The LPS Nodes ===== ===== The LPS Nodes =====
  
-  * Get the latests source code for the firmware from [[https://github.com/bitcraze/lps-node-firmware]]+  * Get the latests source code for the firmware from [[https://github.com/bitcraze/lps-node-firmware]]. Make sure the git submodules are updated
   * Compile   * Compile
   * Flash the nodes using ''make dfu''   * Flash the nodes using ''make dfu''
   * Configure the Nodes as anchors, and set the mode to TDoA 3   * Configure the Nodes as anchors, and set the mode to TDoA 3
 +  * Anchor positions can be set using the python client (0 - 7) but if you have more anchors you will have toools/lpp/set_positions.py script.py
  
-===== The Crazyflie =====+===== 2D positioning ===== 
 + 
 +TDoA 3 supports 2D positioning as well. In this mode all anchors can be placed in the same plane. The tag (LPS deck) is expected to move in the XY-plane at a fixed Z.  
 + 
 +Recompile the Crazyflie firmware using the LPS_2D_POSITION_HEIGHT compile flag set to the desired Z. 
 +For instance ''make "EXTRA_CFLAGS=-DLPS_TDOA_USE_V3 -DLPS_TDOA_ENABLE -DLPS_2D_POSITION_HEIGHT=1.2"'' if the tag will be located at 1.2 meters height.
  
-  * Get the latest source code for the firmware from [[https://github.com/bitcraze/crazyflie-firmware]] 
-  * Compile for TDoA3 and force the TDoA mode with ''make -j4 "EXTRA_CFLAGS=-DLPS_TDOA_USE_V3 -DLPS_TDOA_ENABLE"'' 
-  * Flash the Crazyflie with ''make cload'' 
doc/lps/toda3.txt · Last modified: 2020-05-12 14:08 by kimberly

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