Hesai Pandar64, 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
Reserved 4 bytes -
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 Chapter 4 (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:
Output A, V, or NUL
· A (hex = 41) = Active
· V (hex = 56) = Void
· NUL (hex = 0) = GPS being unlocked
Output 0 to 9, as defined by the GPS device
manufacturer. Commonly used definitions:
· 0 = invalid
· 1 = GPS fix (SPS)
· 2 = DGPS fix
· 4 = RTK fixed
· 5 = RTK float
· 6 = estimated (dead reckoning)
PPS Lock Flag 1 1 - locked 0 - unlocked
Reserved 4 -