Manual

53
Use 30 - 50 periods (pulses) in settings instead of the default 5. Select:
Ultrasound settings => Number of periods
When you have large errors in position estimation (more than a 1m inaccuracy),
use the embedded Oscilloscope on Dashboard => View to determine which
stationary beacon is jammed
Reduce the gain of the ultrasonic manually depending on your system
• Multibyte numbers are transmitted starting from low byte (little endian format)
Negative values represented as two's complement
For example:
a 32-bit integer value '-100' is represented as FFFFFF9C
(transmitted as sequence 9C, FF, FF, FF in little endian format)
This value is detected as negative by '1' value of MSB
and converted by subtracting 2^32: 0xFFFFFF9C- 0x100000000 = -0x64= -100