A short list of the new functionality:
- TDoA2 becomes TDoA, it is implemented as an anchor mode in anchors and tag mode in the Crazyflie
- There is no TDoA tag mode in the LPS node, the binary sniffer mode can be used to receive all information needed to calculate TDoAs.
- The crazyflie firmware now detects the LPS mode, TWR or TDoA, at startup. No need to recompile with a specific mode anymore.
- The node firmware can change anchor mode with over-the-air commands
- The client is capable to set anchor position and switch the system mode (https://wiki.bitcraze.io/doc:lps:configure-mode)
When using 8 anchors to have a spacious anchor convex hull, the performance in TDoA mode is good, we have not observed a big difference with the TWR mode.
The system mode can be changed without restarting the Crazyflie, I have even experimented with switching mode while flying in position hold in the client, It works
.