Hesai Pandar128, User Manual

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3.2.2 UDP Data
GPS UDP data: 512 bytes
Field Bytes Description
GPS Time Data 18 Header 2 bytes 0xFFEE, 0xFF first
Date 6 bytes Year, month, and day (2 bytes each, lower byte first) in ASCII
Time 6 bytes Second, minute, and hour (2 bytes each, lower byte first) in ASCII
μs Time 4 bytes In units of μs (lower byte first)
GPRMC/GPGGA Data 84 NMEA sentence that contains date and time
ASCII code, valid till 2 bytes after the asterisk (*)
The LiDAR can receive either GPRMC or GPGGA, see Section 4.2 (Web Control - Settings)
Reserved 404 404 bytes of 0xDF
GPS Positioning
Status 1 ASCII code, obtained from $GPRMC or $GPGGA
When $GPRMC is selected: When $GPGGA is selected:
A (hex = 41) for Valid Position
V (hex = 56) for Invalid Position
NUL (hex = 0) for GPS being unlocked
0 = invalid
1 = GPS fix (SPS)
2 = DGPS fix
3 = PPS fix
6 = estimated (dead reckoning)
PPS Lock Flag 1 1 - locked 0 - unlocked
Reserved 4 -