-28-
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
-
