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doc:lps:twr-tdma [2017-07-18 15:41] arnaud [System performance] |
doc:lps:twr-tdma [2021-06-24 16:54] (current) kimberly |
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+ | <WRAP center round important 60%> | ||
+ | This page has deprecated and will be archived. Please go to [[https:// | ||
+ | </ | ||
====== TWR-TDMA ====== | ====== TWR-TDMA ====== | ||
+ | |||
+ | <WRAP center round important> | ||
+ | **Note**: TWR-TDMA is now considered obsolete and replaced by the TDoA modes. TDoA will generally have better performance than TWR-TDMA, TWR might still be useful to you though but if you are setting up a single room system TDoA is most likely the way to go. | ||
+ | </ | ||
+ | |||
===== Abstract ===== | ===== Abstract ===== | ||
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In order to activate TWR-TDMA, you need to recompile the Crazyflie firmware. Add the following to ' | In order to activate TWR-TDMA, you need to recompile the Crazyflie firmware. Add the following to ' | ||
- | < | + | < |
LPS_TDMA_ENABLE=1 | LPS_TDMA_ENABLE=1 | ||
CFLAGS += -DTDMA_NSLOTS_BITS=1 | CFLAGS += -DTDMA_NSLOTS_BITS=1 | ||
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* **LPS_TDMA_ENABLE=1** Enable the TDMA mode for TWR | * **LPS_TDMA_ENABLE=1** Enable the TDMA mode for TWR | ||
- | * **TDMA_NSLOTS_BITS=1** Configures 2 time slot (good for 2 tags). The number of time slot is 2^TDMA_NSLOTS_BITS | + | * **TDMA_NSLOTS_BITS=1** Configures 2 time slot (good for 2 tags) per frame. The number of time slot per frame is 2^TDMA_NSLOTS_BITS |
- | * **TDMA_SLOT** Optionally hardcode the time slot. See bellow for time slot auto-configuration. | + | * **TDMA_SLOT** Optionally hardcode the time slot. See bellow for time slot auto-configuration |
===== Configuring time slots ===== | ===== Configuring time slots ===== |