Hesai PandarXT-16, User Manual

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Three single-return modes and three dual-return modes are available, see the Return Mode field in the Tail of Point Cloud UDP Data.
In a dual-return mode,
· the measurements from each round of firing are stored in two adjacent blocks (see table below);
· the Azimuth of these two blocks are the same.
Return Mode field Odd-Number Block Even-Number Block Note
0x39 Last return Strongest return If the last return is also the strongest, then the even-number block stores the
second strongest return.
0x3B Last return First return If there is only one return, then the two blocks store the same data.
0x3C First return Strongest return If the first return is also the strongest, then the even-number block stores the
second strongest return.
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Tail: 24 bytes
Field Bytes Description
Reserved 10 -
Return Mode 1 0x33 - First Return
0x37 - Strongest Return
0x38 - Last Return
0x39 - Dual Return (Last, Strongest)
0x3B - Dual Return (Last, First)
0x3C - Dual Return (First, Strongest)
Motor Speed 2 Unit: RPM