Bitcraze Forums

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 tdoaEngine.c:
https://github.com/bitcraze/crazyflie-f ... ine.c#L127

The paper is found here:
http://mikehamer.info/assets/papers/Led ... 202015.pdf

Thanks!

Thomas

Hi!

The TDoA implementation in the firmware is not directly based on the paper by Mike Hamer. If I remember correctly, we wrote our own implementation some time after Mike did his work.
You can read more about the implementation in the documentation https://www.bitcraze.io/documentation/r ... rinciples/