Bitcraze Wiki

User Tools

Site Tools

You are here: index » doc » lps » toda3
Trace:
doc:lps:toda3

Differences

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

Link to this comparison view

Both sides previous revision Previous revision
Next revision 		Previous revision
Next revision Both sides next revision
doc:lps:toda3 [2018-06-15 08:08]
kristoffer 		doc:lps:toda3 [2018-08-23 07:46]
kristoffer
Line 13: Line 13:
  
   * Get the latest source code for the firmware from [[https://github.com/bitcraze/crazyflie-firmware]]. Make sure the git submodules are updated   * 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.   * Flash the Crazyflie with ''make cload'' script.
 +
 +The Crazyflie will automatically detect that the positioning system is using TDoA3 and switch to the correct mode.
 +If you want to force the Crazyflie to use TDoA3 on startup, use the LPS_TDOA3_ENABLE=1 compile option
  
 ==== The LPS Nodes ==== ==== The LPS Nodes ====
Line 22: Line 24:
   * 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+  * Set anchor positions, see below. 
 + 
 +===== Setting anchor positions ===== 
 + 
 +Anchor positions can be set by the python client but it only supports ids 0-7. If you want to use more anchors there is a tool that can be used in the lps-node-firmware repo. 
 + 
 +The tool uses a Crazyflie as a bridge to transmit UWB messages to the anchors. When it is started it transmits positions for all anchors over and over, 
 + 
 +  * Create a file with your anchor positions, see tools/lpp/positions_example.yaml 
 +  * Start the Crazyflie 
 +  * Pipe the position file into the tool ''cat my_position_file.yaml | python3 tools/lpp/set_positions.py'' 
 +  * Move the Crazyflie close to all anchors to transfer the positions 
 + 
 +===== Sniffing ===== 
 + 
 +If an anchor is configured to act as a sniffer, it can be used to listen to the UWB messages in the system. To set an anchor to sniffer mode, connect via USB. 
 + 
 +==== Basic sniffing ==== 
 + 
 +Connect the sniffer via USB and check in /dev which port that it uses. Use this as the first argument 
 +The second argument is the output format, use yaml 
 +example: ''python3 tools/sniffer/sniffer_binary.py /dev/tty.usbmodem1421 yaml'' 
 + 
 +==== TDoA 3 parsing ==== 
 + 
 +Pipe the yaml into the TDoA 3 decoder to see TDoA 3 data unpacked 
 + 
 +example: ''python3 tools/sniffer/sniffer_binary.py /dev/tty.usbmodem1421 yaml | python3 tools/sniffer/tdoa3_decoder.py'' 
 + 
 +This will show all data that the sniffer receives. To limit the output it is possible to filter which anchors to show. Add one or more ids at the end to only show data from only these anchors. 
 + 
 +example: ''python3 tools/sniffer/sniffer_binary.py /dev/tty.usbmodem1421 yaml | python3 tools/sniffer/tdoa3_decoder.py 2 3'' 
 + 
 +==== 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'' 
  
 ===== 2D positioning ===== ===== 2D positioning =====
Line 31: Line 71:
 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. 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. 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 82:
  
 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. 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 ==== ==== The Crazyflie ====
Line 60: Line 102:
   * Compile and flash   * Compile and flash
  
-===== Sniffing ===== 
  
-If an anchor is configured to act as a sniffer, it can be used to listen to the UWB messages in the system. To set an anchor to sniffer mode, connect via USB. 
- 
-==== Basic sniffing ==== 
- 
-Connect the sniffer via USB and check in /dev which port that it uses. Use this as the first argument 
-The second argument is the output format, use yaml 
-example: ''python3 tools/sniffer/sniffer_binary.py /dev/tty.usbmodem1421 yaml'' 
- 
-==== TDoA 3 parsing ==== 
- 
-Pipe the yaml into the TDoA 3 decoder to see TDoA 3 data unpacked 
- 
-example: ''python3 tools/sniffer/sniffer_binary.py /dev/tty.usbmodem1421 yaml | python3 tools/sniffer/tdoa3_decoder.py'' 
- 
-This will show all data that the sniffer receives. To limit the output it is possible to filter which anchors to show. Add one or more ids at the end to only show data from only these anchors. 
- 
-example: ''python3 tools/sniffer/sniffer_binary.py /dev/tty.usbmodem1421 yaml | python3 tools/sniffer/tdoa3_decoder.py 2 3'' 
- 
-==== Time of flight ==== 
- 
-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'' 
doc/lps/toda3.txt · Last modified: 2020-05-12 14:08 by kimberly

Page Tools

Except where otherwise noted, content on this wiki is licensed under the following license: CC Attribution-Share Alike 4.0 International
CC Attribution-Share Alike 4.0 International Donate Powered by PHP Valid HTML5 Valid CSS Driven by DokuWiki