Tdoa Communication Data

All discussions related to the Loco Positioning system
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Posts: 12
Joined: Fri Jan 19, 2018 6:28 am

Tdoa Communication Data

Post by EgeYlcn » Mon Apr 23, 2018 7:45 am

Hi ,

I want to learn that what package is being used for positioning while New LPS system is running. For example ; The master anchor is in communication with which anchors to use and which TdoaDistDiff value is used for positioning. I want to know the values of 'Anchor', 'PreviousAnchor' and 'TdoaDistDiff' in the LPS system.

Which files in the code should I look at? What variables should I monitor ?

Thank you,


Posts: 2031
Joined: Tue Feb 06, 2007 12:36 pm

Re: Tdoa Communication Data

Post by arnaud » Mon Apr 30, 2018 10:50 am

These variables are defined in the TDoA implementation of the Crazyflie: ... Tag.c#L419

You can look through the code and add more log variable if you need more information about the state of the system.

The TDoA protocol is described in the wiki:

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