Bitcraze Forums

Hi,

I am trying to use the loco positioning system without the crazyflie. And I know that the current TWR code does not support ranging with more than 1 tag. However, I read that you have developed a code for the loco positioning system to be used with up to 4 crazyflies and this is very similar to what I need. Is there anyway you can help me achieve ranging with 2 tags and 4 anchors?

Additionally, does anyone here know how to edit the firmware code and compile it back to .dfu format so that it can be uploaded to the UWB nodes?

Hi,

You can run TWR in TDMA mode, it is descibed here: https://wiki.bitcraze.io/doc:lps:twr-tdma. However this mode is only implemented in the Crazyflie, you will have to port it to the node.

If you clone the lps-node firmware and if you have the build dependencies installed (see readme file), running 'make' will make the DFU file and running 'make dfu' will flash the DFU file in your node.