Loco Positioning Protocol

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