Bitcraze Forums

Hi

I've manage to gain access to 9 Loco Nodes and 2 crazyflies

I have flashed the newest crazyflie firmware with TDoA 3 enabled
```
CFLAGS += -DLPS_TDOA_ENABLE -DLPS_TDOA_USE_V3
```

Here in this blog post it mentions that 20 anchors was used to cover two rooms.
https://www.bitcraze.io/2018/05/tdoa-3-progress/

I've seen the wiki:
https://wiki.bitcraze.io/doc:lps:toda3

And followed the guide.
RIght now TDoA 3 seems to work, but how do I use more than 8 anchors?

I'm willing to modify CF Client or use the Python libraries itself to try this out.

Thanks!

TDoA3 should work out of the box with more than 8 anchors, the only thing is that you need to set the anchor positions using the script "toools/lpp/set_positions.py" instead of using the client. If anchor number 9 has a position setup, it will be used by the Crazyflie to calculate TDoAs.

Modifying the client to work with the new mode will be required but it is not something we have even started to look at (there is some work to be done in the GUI to make it work with n-anchors). If you are interested in updating the client GUI feel free to propose a new design .

If Crazyflie is compiled with TDoA 3,
can it work with a TDoA 2 anchor?

No, unfortunately you currently have to choose either one or the other. Eventually we will either retire TDoA2 or add an automatic switch like we currently have for TWR/TDoA2.