The Loco Positioning Protocol (LPP) defines the messages send on the Loco Positioning System UWB radio to configure and use the system. There
is two main classes of messages:
- messages used for ranging and positioning
- messages used for system management
The ranging messages are sent and received directly by one of the ranging algorithms in the Crazyflie and/or the Nodes. The management message are sent from the Crazyflie to a Node, but are usually initiated by a client or manangement tool to perform system configuration of the Nodes.
Ranging protocols
All ranging packet share the same format:
| byte | value | note |
|---|---|---|
| 0 | ID | Packet ID |
| 1.. | Payload | Format is defined per ID |