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doc:lps:toda3 [2018-06-15 08:53] kristoffer |
doc:lps:toda3 [2018-08-23 07:46] kristoffer |
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* Get the latest source code for the firmware from [[https:// | * Get the latest source code for the firmware from [[https:// | ||
- | * Compile for TDoA3 and force the TDoA mode with '' | ||
* Flash the Crazyflie with '' | * Flash the Crazyflie with '' | ||
+ | |||
+ | 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 ==== | ||
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* Flash the nodes using '' | * Flash the nodes using '' | ||
* 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 | + | * Set anchor |
===== Setting anchor positions ===== | ===== 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. | + | 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, | 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/ | * Create a file with your anchor positions, see tools/ |