-
30
-
3.1.2
UDP Data
■ Ranging Data: 1240 bytes (10 blocks)
Block 1
Block 2
Block 3
...
Block 10
0xFFEE
0xFFEE
0xFFEE
...
0xFFEE
Azimuth 1
Azimuth 2
Azimuth 3
...
Azimuth 10
Channel 1
Channel 1
Channel 1
...
Channel 1
Channel 2
Channel 2
Channel 2
...
Channel 2
...
...
...
...
...
Channel 40
Channel 40
Channel 40
...
Channel 40
Block size = 2 + size of A 40* size of Channel X
Each block in the Ranging Data: 124 bytes
Field
Bytes
Description
0xFFEE
2
Header, meaningless, 0xFF first
Azimuth
2
Current reference angle of the rotor
Unit: 0.01°
Channel X
3
2-byte Distance
Distance Value = Distance * 4 mm
1-byte Reflectivity
Range: 0 to 255
The mapping from this field to target reflectivity can be selected in Section 4.2 (Web Control –
Settings)
In Dual Return mode, the measurements from each round of firing are stored in two adjacent blocks:
· The odd number block is the last return, and the even number block is the strongest return
· If the last and strongest returns coincide, the second strongest return will be placed in the even number block
· The Azimuth changes every two blocks
Summary of Contents for Pandar40M
Page 1: ...www hesaitech com HESAI Wechat Pandar40M 40 Channel Mechanical LiDAR User Manual...
Page 17: ...15 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm...
Page 18: ...16 Figure 2 2 Bottom View Unit mm...
Page 19: ...17 2 1 1 Quick Installation Figure 2 3 Quick Installation...
Page 20: ...18 2 1 2 Stable Installation Figure 2 4 Stable Installation...
Page 27: ...25 2 3 2 Connection Figure 2 10 Connection Box Connection with GPS...
Page 28: ...26 Figure 2 11 Connection Box Connection with PTP...
