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--- doc:lps:toda3 [2018-06-15 08:08]
kristoffer
+++ doc:lps:toda3 [2018-06-15 08:42]
kristoffer
@@ Line 31: / Line 31: @@
 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.
-===== Longer range =====
+===== Longer range and lower bitrate =====
 In this mode the UWB bitrate is lower and the data of messages can be read at a longer distance. The packet rate will be reduced though.
@@ Line 42: / Line 42: @@
 It is possible to use a longer preamble, this will also reduce packet rate. There is no compile flag for this setting, it requires some code modifications in the Crazyflie and the anchors.
+The preamble is used by the anchor radios to detect messages and a longer preamble increase the probability and thus the useful distance.
+Note that the radios might detect the preamble but fail at reading the data of the packet (see lower bitrate above). The "SFD" LED on the anchor indicates if a preamble has been detected by the radio.
 ==== The Crazyflie ====
@@ Line 80: / Line 82: @@
 example: ''python3 tools/sniffer/sniffer_binary.py /dev/tty.usbmodem1421 yaml | python3 tools/sniffer/tdoa3_decoder.py 2 3''
-==== Time of flight ====
+==== Time of flight and anchor to anchor distance ====
 By piping the TDoA 3 data into the TOF tool, the measured anchor to anchor distances will be displayed. By adding the 'm' argument the output will be in meters instead of UWB clock ticks.
 example: ''python3 tools/sniffer/sniffer_binary.py /dev/tty.usbmodem1421 yaml | python3 tools/sniffer/tdoa3_decoder.py | python3 tools/sniffer/tdoa3_tof.py m''

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