# TDoA3 Long Range Configuration

TDoA3 Long Range increases the distances that a Loco System can use when running in TDoA3, see the Loco Node documentation for more information.

The Crazyflie must run a special version of the firmware to use TDoA3 Long Range mode. The configuration is set using the kbuild menu and you should:

1. Enable Expansion deck configuration/Support the Loco positioning deck
2. Chose Expansion deck configuration/Algorithm to use/Use the Time Difference of Arrival (3) algorithm
3. Enable Expansion deck configuration/Longer range mode

If you want to set configurations manually you should use:

CONFIG_DECK_LOCO=y
CONFIG_DECK_LOCO_ALGORITHM_TDOA3=y
CONFIG_DECK_LOCO_LONGER_RANGE=y