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Use the TDoA engine for TDoA2 #556

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krichardsson opened this issue Feb 21, 2020 · 1 comment
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Use the TDoA engine for TDoA2 #556

krichardsson opened this issue Feb 21, 2020 · 1 comment
Milestone
2020.04

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@krichardsson
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The TDoA engine was designed when we developed TDoA3, but the design is fairly generic and should work for TDoA2 as well. The benefit would be to have one code base for TDoA where improvements are added for both algorithms. One example would be the clock correction that has a better implementation in the tdoa engine compared to the TDoA2 implementation.

Some things that should be considered:

  1. The tdoa engine chooses anchor pairs based on a randomized algorithm while tdoa 2 uses the youngest data.
  2. Tdoa 2 supports logging of all consecutive anchor pairs (both anchor-to-anchor distance as well as tdoa value) while the tdoa engine only supports one (configurable) pair.
krichardsson added a commit that referenced this issue Feb 21, 2020
@krichardsson
#556 Refactoring.
831eb98 
Moved the tdoa engine state instance from the tdoa3 implementation to a new file to make it possible to share the same instance between tdoa 2 and 3.
Also added support for multiple anchor matching algorithms.
krichardsson added a commit that referenced this issue Feb 21, 2020
@krichardsson
#556 Moved log and params from tdoa3 to todo engine instance. Compati…
b6a3605 
…bility break: log and param group names are changed from "tdoa3" to "todaEngine".
krichardsson added a commit that referenced this issue Feb 21, 2020
@krichardsson
#556 Added anchor matching algorithm for youngest anchor. Added param…
945ac76 
…eter for choosing matching algorithm.
krichardsson added a commit that referenced this issue Feb 25, 2020
@krichardsson
#556 Corrected clock correction rate logging
44d7707
krichardsson added a commit that referenced this issue Feb 25, 2020
@krichardsson
#556 Added sequence number mask for TDoA3. Not needed, but makes the …
68248c7 
…code easier to understand.
krichardsson added a commit that referenced this issue Feb 25, 2020
@krichardsson
#556 Set anchor matching algorithm when initializing the tdoa engine
08fbee2
krichardsson added a commit that referenced this issue Feb 26, 2020
@krichardsson
#556 Use the tdoa engine for tdoa2
299f981
@krichardsson krichardsson added this to the next-release milestone Feb 26, 2020
@krichardsson
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Note: some parameter names has changed

cafeciaojoe pushed a commit to cafeciaojoe/crazyflie-firmware that referenced this issue Sep 27, 2024
@ataffanel
Fix Color picker on LED-tab not working (bitcraze#556)
db482da 
Fixes bitcraze#555
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