Hesai Pandar128, Руководство пользователя

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Body
Body: 776 bytes (2 blocks)
Field Bytes Description
Azimuth 1 2 For Block 1: current reference angle of the rotor, in little endian format (lower byte first)
azimuth angle = Azimuth / 100°
Block 1 384 For Block 1: measurements made by Channels 1 to 128, see table below
Azimuth 2 2 For Block 2
Block 2 384 For Block 2
CRC 1 4 CRC-32 checksum of the Body
Each Block in the Body: 3 * 128 = 384 bytes
Field Bytes Description
Channel XX 3 2-byte Distance In little endian format (lower byte first)
Distance Value = Distance * 4 mm
1-byte Reflectivity Reflectivity, in percentage (0 to 255%)
Pandar128 supports three single-return modes and three dual-return modes, 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 the two blocks of one packet (see table below);
· Azimuth 1 and Azimuth 2 are the same.
Return Mode field Block 1 Block 2 Note
0x39 Last return Strongest return If the last return is also the strongest, then Block 2 stores the second strongest return.
0x3B Last return First return If there is only one return, then Block 1 and Block 2 store the same data.
0x3C First return Strongest return If the first return is also the strongest, then Block 2 stores the second strongest return.