Estimate local position from UWB anchor measurements. UWB devices can be used for communication, ranging, and positioning. This module consumes anchor measurements and estimates a local position. With range measurements, 3 anchors are required/supported by the current trilateration path. See https://hal-enac.archives-ouvertes.fr/hal-01936955 for more information on the EKF filtering.

@ranging

ifeq (,$(findstring $(UWB_POSITIONING_USE_AS_GPS),0 FALSE)) ifdef SECONDARY_GPS ifneq (,$(findstring $(SECONDARY_GPS), uwb_positioning)) # this is the secondary GPS $(TARGET).CFLAGS += -DGPS_SECONDARY_TYPE_H=\"modules/decawave/uwb_positioning.h\" $(TARGET).CFLAGS += -DSECONDARY_GPS=GPS_UWB else $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/decawave/uwb_positioning.h\" $(TARGET).CFLAGS += -DPRIMARY_GPS=GPS_UWB endif else # plain old single GPS usage $(TARGET).CFLAGS += -DGPS_TYPE_H=\"modules/decawave/uwb_positioning.h\" endif endif