Hesai QT128C2X, User Manual

Page: 34 / 101

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■ Header: 6 bytes
Field Bytes Description
Laser Num 1 0x80 (128 channels)
Block Num 1 0x02 (2 blocks per packet)
First Block Return 1 Reserved
Dis Unit 1 0x04 (4 mm)
Return Num 1 Number of returns that each channel generates
0x01 - one return 0x02 - two returns
Flags 1 [7] and [5:4] are reserved
The other bits show whether this data packet contains the following information
[6] channel customization
[3] digital signature
[2] functional safety
[1] IMU
[0] UDP sequence
1 – Selected channels 0 – All channels
1 – YES 0 – NO
1 – YES 0 – NO
1 – YES 0 – NO
1 – YES 0 – NO