-
32
-
3.1.2
UDP Data
■ Pre-Header: 6 bytes
Field
Bytes
Description
0xEE
1
SOP (start of packet)
0xFF
1
SOP (start of packet)
Protocol Version Major
1
Main class of the point cloud UDP packet structure
Currently 0x06
Protocol Version Minor
1
Subclass of the point cloud UDP packet structure
Currently 0x01
Reserved
2
-
■ Header: 6 bytes
Header
Field
Bytes
Description
Laser Num
1
0x20
(32 channels)
Block Num
1
0x08
(8 blocks per packet)
First Block Return
1
Reserved
Dis Unit
1
0x04 (4 mm)
Return Number
1
0x02
(each channel can generate two returns maximum)
UDP Seq
1
[7:1] is reserved
Least significant bit [0] shows whether this packet includes a UDP sequence number field
1 - UDP sequence ON
Summary of Contents for PandarXT
Page 1: ...www hesaitech com HESAI Wechat PandarXT 32 Channel Medium Range Mechanical LiDAR User Manual...
Page 19: ...17 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm...
Page 20: ...18 Figure 2 2 Bottom View Unit mm...
Page 21: ...19 2 1 1 Recommended Installation Figure 2 3 Recommended Installation...
Page 29: ...27 2 3 2 Connection Figure 2 9 Connection Box Connection with GPS...
Page 30: ...28 Figure 2 10 Connection Box Connection with PTP...
