Commit 3e1e4db4 authored by Ian McInerney's avatar Ian McInerney

Working ranging deck

parent eca121ab
......@@ -339,6 +339,8 @@ static void dwm1000Init(DeckInfo *info)
xTaskCreate(uwbTask, "lps", 3*configMINIMAL_STACK_SIZE, NULL,
5/*priority*/, NULL);
DEBUG_PRINT("DWM1000 Initialized\n");
isInit = true;
}
......
......@@ -34,6 +34,7 @@
#include "task.h"
#include "log.h"
#include "debug.h"
//#include "crtp_localization_service.h"
#include "stabilizer_types.h"
......@@ -366,6 +367,8 @@ static void twrTagInit(dwDevice_t *dev, lpsAlgoOptions_t* algoOptions)
memset(options->distance, 0, sizeof(options->distance));
memset(options->pressures, 0, sizeof(options->pressures));
memset(options->failedRanging, 0, sizeof(options->failedRanging));
DEBUG_PRINT("Tag Init Complete\n");
}
uwbAlgorithm_t uwbTwrTagAlgorithm = {
......
......@@ -11,7 +11,6 @@ static float ranges[LOCODECK_NR_OF_ANCHORS];
*/
void computation_newDistance(int anchor, float newRange) {
ranges[anchor] = newRange;
DEBUG_PRINT("D: %f", newRange);
}
void computation_localization( CRTPPacket *pk, CRTPPacket *p) {
......
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