Loco Positioning deck

Specifications

Features

• Measures distances to Loco Positioning Node Anchors
• 4 status LEDs

Mechanical specifications

• Weight: 3.3 g
• Size (WxHxD): 28x35x4 mm
• Designed for mounting above or under the Crazyflie 2.X

Electrical specification

• Based on the Decawave DWM1000 module
• Implements IEEE 802.15.4 UWB
• 1-wire memory for automatic expansion deck detection
• Max 150 mA consumed, depends on operation mode and configuration
• Crazyflie 2.X flight time with deck 6 minutes

Radio specification

• Operates at 3.2 - 7 GHz
• Channel bandwidth 500 MHz

Ranging specification

• Ranging accuracy ±10 cm according to DWM1000 spec
• Maximum tested range 10 m
• Ranging rate 500 Hz, shared over all anchors. Around 80Hz per anchor with 6 anchors

Compatibility

See the compatibility matrix

• Datasheet
• Schematics
• Compatibility matrix

Usage

Go to the Loco positioning system tutorial to set the loco positioning up. Afterwards, you can try out the loco positioning based flight tutorial. Also for more general information over how the loco positioning system fits in our eco system, go to Positioning Systems Overview.

• Positioning Systems Overview

Tutorials

• Getting started with the Loco Positioning system
• Getting started with Flying using Loco Positioning
• Getting started with expansion decks

Development

Implementation Firmware

All the Loco positioning is estimated onboard of the crazyflie. Go the the technical documentation of the loco positioning system of how it is implemented into the Crazyflie Firmware and the Loco positioning node firmware

It is important to have a good feel for the stabilizer module of the crazyflie, in particular state estimation with the Extended Kalman Filter

• Technical details
• Stabilizer Module
• Log variables Loco
• Log variables Ranging
• Parameters
• Dataset

Investigations

• accuracy and precision of the Loco Positioning
• Maximum range for loco positioning