Bitcraze Forums

hi.carlos:

Your experiment so cool! very good, so UWB trace anything no problem!
I want to know what range method TOF or TDOA?

hi,arnaud: I have already calculate the time difference with two anchors, test about 1 hour, the data as following: tdoa.png these values are dw1000 timestamp, so we need covert to time: X/(499.2*128*1000) = x ns so these values range from -2200 to -3500, so the time difference is about -34ns to -54...

hi,all

now the dwm1000 range only 10m, refence lps node code, maybe reason?

Hi,Arnaud: about measure time, Got it! I don't sync tags, instead lock anchor, two points: 1, when one tag and anchor ranging, lock the anchor, block range with other tag. when ranging complete, unlock the anchor. 2, from the anchors rxcallback function see, I feel any poll will enter the function, ...

Hi, Arnaud: So cool, I will try it. Thank you for your effort! we can get more distances per seconds. I have added lock anchor code for support more tags rather than only one tag with 6 anchors. when the code stable, I will source the code for you. and add get distance frequence, more easily filter ...

hi,

Thanks! the newest crazyflie-firmware is OK?
I will try the command: rosropic echo /ranging

hi,arnaud: Got it.Thanka! I have already measure the time of a successful distance between tag and anchor, about 4~5ms. I will try 12MHZ spi speed. test code and research the DMA transmit for spi for improving the time. Addition, I try the crazyflie-firmware dwm1000 code, force mount the dwm1000 dec...

hi, I check the lps-node-firmware code, find the spi speed is 3M clcok, according to the dw1000 spec, when the the speed may reach 20MHZ. 1 (1).png the dw1000 user manual record the following: In the IDLE state the DW1000 internal clock generator CLKPLL is locked running and ready for use but is gat...

hi,all: I want to try crazyflie-firmare dwm1000 code, then I have forced the code compiled, add the follow config to tools/make/config.mk: CFLAGS += -DDECK_FORCE=bcDWM1000 DEBUG=1 from the crazyflie-client-python, I find the dwm1000 init successfully: dwm1001test1.png then I have already deploy the ...

Hi, I have checked the Rll/Pitch/Yaw Attidute/Rate PID value, as follow: #define PID_ROLL_RATE_KP 250.0 #define PID_ROLL_RATE_KI 500.0 #define PID_ROLL_RATE_KD 2.5 #define PID_ROLL_RATE_INTEGRATION_LIMIT 33.3 #define PID_PITCH_RATE_KP 250.0 #define PID_PITCH_RATE_KI 500.0 #define PID_PITCH_RATE_KD 2...