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doc:lps:toda3 [2018-06-15 08:51] kristoffer |
doc:lps:toda3 [2018-11-06 14:10] arnaud |
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====== TDoA 3 set up ====== | ====== TDoA 3 set up ====== | ||
- | <WRAP center round tip 80%> | + | TDoA 3 is part of the official Crazyflie and LPS Node firmware releases since 2018.10. |
- | **NOTE** | + | |
- | The TDoA3 mode is experimental. The protocol and implementation might change but is fairly stable. | + | |
- | </ | + | |
- | ===== Compile | + | 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 | ||
- | To try it out you will have to do the following: | + | ==== The LPS Nodes ==== |
- | ==== The Crazyflie ==== | + | * Configure the Nodes as anchors, and set the mode to TDoA 3 |
+ | * Set anchor positions, see below. | ||
- | * Get the latest source code for the firmware from [[https:// | + | ===== Setting anchor positions ===== |
- | * Compile for TDoA3 and force the TDoA mode with '' | + | |
- | * Flash the Crazyflie with '' | + | |
- | ==== The LPS Nodes ==== | + | Anchor positions can be set by the python client or the tool in the lps-node-firmware repo. |
+ | You might have to move the Crazyflie close to all anchors to transfer the positions from the Crazyflie. | ||
- | * Get the latests source code for the firmware from [[https:// | + | All the anchors work in the same coordinate system, so you need to choose a common origin |
- | * Compile | + | |
- | * Flash the nodes using '' | + | |
- | * 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/ | + | |
===== 2D positioning ===== | ===== 2D positioning ===== | ||
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Recompile the Crazyflie firmware using the LPS_2D_POSITION_HEIGHT compile flag set to the desired Z. | Recompile the Crazyflie firmware using the LPS_2D_POSITION_HEIGHT compile flag set to the desired Z. | ||
- | For instance '' | + | For instance '' |
===== Longer range and lower bitrate ===== | ===== Longer range and lower bitrate ===== | ||
+ | |||
+ | Note: this is experimental functionality that is not fully tested or might not work as expected. | ||
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. | ||
- | Recompile | + | Recompile |
- | Example: '' | + | Example: '' |
+ | |||
+ | There is a setting for the bitrate in the Anchor configuration when connecting using USB. | ||
===== Longer preamble ===== | ===== Longer preamble ===== | ||
+ | |||
+ | Note: this is experimental functionality that is not fully tested or might not work as expected. | ||
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. | ||
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==== The LPS Nodes ==== | ==== The LPS Nodes ==== | ||
- | * Find the src/uwb.c file | + | * There is a configuration setting for the preamble length |
- | * Locate the call to dwEnableMode() | + | |
- | * Change the second argument to MODE_LONGDATA_MID_ACCURACY | + | |
- | * Find the src/ | + | |
- | * Locate the line where PREAMBLE_LENGTH_S is defined | + | |
- | * Change it to 1024 bits: #define PREAMBLE_LENGTH_S ( 1024 * 1017.63e-9 ) | + | |
- | * Compile and flash | + | |
===== Sniffing ===== | ===== 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. | + | Sniffing the system is useful when you want to start digging into the radio messages exchanged between the anchor. It is a debug functionality. |
+ | |||
+ | 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 and configure it to sniffer mode. | ||
==== Basic sniffing ==== | ==== Basic sniffing ==== | ||
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example: '' | example: '' | ||
- | |||
- | ==== 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. | ||
- | |||
- | 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, | ||
- | |||
- | The tool is somewhat hackish and could use some updates, for instance the Crazyflie radio address is hardcoded in the script. Be prepared to modify the script... | ||
- | |||
- | * Create a file with your anchor positions, see tools/ | ||
- | * Start the Crazyflie | ||
- | * Pipe the position file into the tool '' | ||
- | * Move the Crazyflie close to all anchors to transfer the positions | ||