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doc:lps:toda3

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TDoA 3 set up

NOTE The TDoA3 mode is experimental. The protocol and implementation might change but is fairly stable.

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

  • Get the latests source code for the firmware from https://github.com/bitcraze/lps-node-firmware. Make sure the git submodules are updated
  • Compile
  • Flash the nodes using make dfu
  • 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

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.

doc/lps/toda3.1528890778.txt.gz · Last modified: 2018-06-13 13:52 by kristoffer