Hello,
I'm using the IWR6843AOPEVM with the MMICWAVEICBOOST with the 3D People Tracking software from mmwave_sdk_03_06_01_00-LTS. I'm using the industrial analyzer to capture the TLV data.
I would like to use the part to measure targets at distances up to 30 m. I have successfully measured targets beyond 30 meters, but there appears to be a bug in the sdk software that limits the reported distance to 16.3 meters. When targets are at distances greater than 16.3 meters the distance wraps around and the reported distance is: (actual target distance) - n * 16.3. I have observed cases where n is 1 and 2.
I'm using the document below to read the TLV.
<install folder>/radar_toolbox_1_30_01_03/source/ti/examples/People_Tracking/3D_People_Tracking/docs/3d_people_tracking_user_guide.html
I'm monitoring rangeUnit variable (float, 4 Bytes), and the range variable (int16_t, 2 Bytes). I'm reading the range variable as an unsigned int. I see the range variable approach 65535 (max value for a 2 byte unsigned int), and then as the target gets farther away I see the range variable go to a small number around 1000. The rangeUnit variable does not change.
See the plot below for an example of the distance wrap reported in the point cloud TLV. Between 40 seconds and 70 seconds the target is slowly walking away from the radar at an azimuth of 0 degrees, then from 70 seconds to 100 seconds the target walks back towards the radar. While walking away and returning the target stops for 2 to 3 seconds at about 9 meters.
I can provide the binary files collected during this test if that will be helpful. Please let me know if there is anything I'm doing incorrectly in interpreting the TLV data.
Thank You,
David
