User Tools

Site Tools


doc:lps:toda3

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revision Previous revision
Next revision
Previous revision
doc:lps:toda3 [2018-06-15 08:53]
kristoffer
doc:lps:toda3 [2018-08-23 07:46] (current)
kristoffer
Line 13: Line 13:
  
   * Get the latest source code for the firmware from [[https://​github.com/​bitcraze/​crazyflie-firmware]]. Make sure the git submodules are updated   * 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.   * Flash the Crazyflie with ''​make cload''​ script.
 +
 +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 ====
Line 22: Line 24:
   * Flash the nodes using ''​make dfu''​   * Flash the nodes using ''​make dfu''​
   * 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 ​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+  * Set anchor ​positions, see below.
  
 ===== 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/​lpp/​positions_example.yaml   * Create a file with your anchor positions, see tools/​lpp/​positions_example.yaml
doc/lps/toda3.1529045626.txt.gz · Last modified: 2018-06-15 08:53 by kristoffer