DWM1000_Copter_Integration

For a starting point look into main.cpp and node_config.h. The program consists of 3 major components - ranging, multilateration and wirless communication.

Importing the project

• git clone the repo
• create virtualenv vEnv virtualenv --python=python2.7 vEnv
  • install mbed-cli module pip install mbed-cli
  • install dependancies pip install -r mbed-os/requirements.txt
• checkout the submodule git submodule update -i

Building

• (load the right python env with pyhon2 and the mbed package installed) . vEnv/bin/activate
• Compile with ADDR=<Address of Node> make compile

Flashing

• The Makefile can be used to flash a node with the black magic probe
• ADDR=<Address of Node> make flash is the command
• BMP_PORT needs to be set to the correct value so the BMP is recognized

Address Space

• 0/255: Broadcast
• 1: Ground-Station
• 2: Default (should not be used in newly flashed)
• 3 - (MLAT_BASE_ADDR-1): normal nodes, that regularly measure their range with node 1 and all anchor-nodes
• MLAT_BASE_ADDR-254: anchor nodes, that do note actively start range_readings