Bitcraze Forums

Hello, I am attempting to simulate the LPS system. I am currently attempting to add noise to the state estimate of the simulated robot, but am unsure of where to add it in to reliably simulate error. As I see it, I have two options: 1) Add the noise when the position of the robot is computed 2) Add ...

Hello, I was looking through the TDoA calculation and referencing the paper you cite in the code and am wondering why the time of flight between the reference anchor and the anchor that was previously received from is added into the Equation 16 from the paper? The relevant code is line 127 in tdoaEn...

Yes, thank you!

Hello, I am currently implementing an Extended Kalman Filter for some ground robots using the LPS system. I was looking at your code-base and saw that instead of computing the location from the TDoA distance value, you're computing the error between the measured and the predicted distance values and...

Hello, I am currently porting the TDoA2 algorithm to another platform and was wondering why you truncate the timestamps in the calcClockCorrection function in lpsTdoa2Tag.c? The truncate functions are: static uint64_t truncateToLocalTimeStamp(uint64_t fullTimeStamp) { return fullTimeStamp & 0x00...

I checked with the Crazyflie and the LPS system wasn't working properly. We have two systems and it turns out that some of the anchors were switched, so a couple were on TDoA3 and the others on TDoA2. I reconfigured them and it works. I am running into issues with the LPS tag stopping its reception ...

I tried the new settings today and unfortunately, I am still not receiving any packets. The settings are: Mode: MODE_SHORTDATA_FAST_ACCURACY Preamble Code: PREAMBLE_CODE_64MHZ_9 Channel: CHANNEL_2 Are there any other configuration options available that you all are changing from the default settings...

Oh, I was setting it to a different mode than was in the CF firmware. The MODE_LONGDATA_FAST_LOWPOWER is defined as static constexpr byte MODE_LONGDATA_FAST_ACCURACY[] = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_64MHZ, TX_PREAMBLE_LEN_1024}; I will try it with the different mode that you have recommended wh...

Hello, I am working on getting the LPS tag working on some ground robots. I currently am able to blink the LEDs and am setting the following configuration settings: Mode: MODE_LONGDATA_FAST_LOWPOWER Preamble Code: PREAMBLE_CODE_64MHZ_9 Channel: CHANNEL_2 These are the settings that you all seem to b...

I'm trying to reinstall the crazyflie client, but I'm getting the following error message: Obtaining file:///home/thomas/Desktop/crazyflie-clients-python Requirement already satisfied: PyYAML in /usr/lib/python3/dist-packages (from cfclient===2019.01-18-g9fb3ab6) Requirement already satisfied: appdi...