To try it out you will have to do the following:

• 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.

• 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

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.

In this mode the UWB bitrate is lower and the messages will reach longer.

Recompile both Crazyflie and anchors with the LPS_LONGER_RANGE compile flag.

Example: make “EXTRA_CFLAGS=-DLPS_TDOA_USE_V3 -DLPS_TDOA_ENABLE -DLPS_LONGER_RANGE”