Being able to view anchor IDs in Tdoa2 , which the tag uses to calculate its position.

[DavideLentini]

Hello everyone , I don't know if this is the right place to ask this question , I hope so !
My tag uses bitcraze firmware , I have a system with 8 UWB anchors running in Tdoa2 . My system is working and I also got some decent results . Now , since I would like to improve the system , I would need to understand , which (among the 8 anchors) the tag chooses to calculate its X,Y,Z position . Once understood internally in the code , I should pass this data , but that is another matter . For example : the tag calculated that its position is x=4,y=5,z=1 and used the information/packages from these anchors to calculate it : id=3,id=5,id=7. This is my idea , I don't know if it is possible or where I have to act in the code . Thanks anyway for the help !

[krichardsson]

What you are looking for is probably the findSuitableAnchor() function.
This function is called for an incoming packet to match it with the packets that have been received earlier, to do the TDoA computation.

Currently there are two options: to match with youngest (most recent) packet or with a random packet.
In theory it would be possible to optimize based on the geometry of the system, radio quality or other properties instead.

I have not seen any substantial differences in my tests, I have not put that much time into it on the other hand.