- Breakout boards
This is an old revision of the document!
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:
make “EXTRA_CFLAGS=-DLPS_TDOA_USE_V3 -DLPS_TDOA_ENABLE”
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.
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.