Bitcraze Forums

Hello everyone,
I am new in using the crazyflie loco positionning system,and I used six anchors for the loco positioning system.
i have two question:
-How can I make the Crazyflie to communicate with the closest four anchor instead of all of them(six) ?
-Where can i find in the Crazyflie firmware the parts relative to the question ?
Thank's a lot for your help!!!

Hi, after each ranging this code is executed: https://github.com/bitcraze/crazyflie-f ... #L376-L425. More precisely, the next anchor to range with is decided in the "initiate_ranging()" function: https://github.com/bitcraze/crazyflie-f ... #L309-L312. You can modify this function to set "current_anchor" using another algorithm than the current round-robin one.

Hi Arnaud,

Thank you for your reply.
Best Regards

Dylan

Hi Arnaud,
I flash the crazyflie with the crazy_firmware(I made some minor changes) in BitcrazeVM,but when flash finished, The LEDs (1 and 4) are fully lit red ,Does this mean that my code is error?
Thanks!
Dylan