Bitcraze Forums

Dear all,

I understand that current cf fw supports 8 anchors for TDoA, may I know if i could put in more anchors like 10~16 anchors to increase the positioning accuracy? How can i add more anchors to the lps?

Thanks

Hi,

To add more anchors to TDoA you will have to modify the code in both the anchor and the Crazyflie. The next step is 16 anchor time-slots if you keep the current TDMA algorithm. I am not sure how much it can improve accuracy, it would be an interesting test though.