Configure TDMA slots with new CF2 firmware

[SlouchyCat]

Dear friends,

I noticed that the new CF firmware has removed dwm1000.c file. May I know how to configure different slots for 4 tags(CF2) using new firmware?

Thank you!

[arnaud]

Hi,

We just reorganized the code and this commit documents the new defines for TDMA: https://github.com/bitcraze/crazyflie-f ... 0385d81e23

TDMA is still pretty experimental like the rest of loco so keep track of the commit messages when updating, I try to document when I break something.

/Arnaud

[SlouchyCat]

Hi Arnaud,

Thanks for the link, however I am getting zero range readings with the new configuration (rostopic echo\crazyflie\log_ranges), and the LPS nodes are blinking normally. Do I need to do any changes to the LPS node firmware?

Thanks!

[arnaud]

This sounds like a bug, I only tested the kalman filter but assumed that the distances would work well. Have you tried the kalman filter with the latest lps-ros module?

It should work fine with a recent node firmware.

I will test that tomorrow to see whats wrong with the range logging.

/Arnaud

[SlouchyCat]

Hi arnaud,

Yes the LPS nodes are flashed with latest firmware. The kalman filter works very well with no TDMA slots. With TDMA i still unable to get range information. I suspect the bug is from crazyflie_server in the ROS package and it is unable to publish the ranges out.

Thanks!

[arnaud]

Hi,

TDMA has been broken, I just fixed it so you can test the latest commits.

The ranges in ROS would not needed anyway in ROS since the kalman filter is doing all calculation in the Crazyflie, I meant to look at the position which was wrong as well in that case (you could remove the log block of the distances and it would still work).

Make sure you have the latest version of the lps-ros package since I did some change related to the anchor position lately (I added a way to upload anchor position and enable them from ROS to avoid pushing the default positions to the kalman filter at startup).

Best,
/Arnaud

[SlouchyCat]

Hi arnaud,

Thanks! It is working very well now