User's Manual

3.1.2 Point Cloud Data Packet- UDP Data

The UDP Data of Pandar40 has a 1256 bytes payload consisting of 1240 bytes ranging data and 16 bytes additional information.

All the multi-byte values are the unsigned type and in Little Endian format.

The definition of each block in ranging data is as follow:

NOTE Under dual return mode, azimuth angle changes every two blocks. The odd number block is the last return, and the even number block

is the strongest return.

Table 3.3 Block Deﬁnition

Table 3.2 Point Could Data UDP Data-Ranging Data

Ranging Data 1240 bytes (10 blocks)

Block 1 Block 2 Block 3 Block 10

0xFFEE 0xFFEE 0xFFEE 0xFFEE

Azimuth Angle 1 Azimuth Angle 2 Azimuth Angle 3 Azimuth Angle 10

Channel 1 Unit 1 Channel 1 Unit 2 Channel 1 Unit 3 Channel 1 Unit 10

Channel 2 Unit 1 Channel 2 Unit 2 Channel 2 Unit 3 Channel 2 Unit 10

Channel 40 Unit 1 Channel 40 Unit 2 Channel 40 Unit 3 Channel 40 Unit 10

······ ······ ······ ······

······

Each Block in

Ranging Data:

124 bytes

0xFFEE 2 bytes

Head, meaningless, 0xFF first

Azimuth Angle 2 bytes

Represents the current reference angle of the rotor

Azimuth [15:0]: lower byte Azimuth_L [7:0] is in the front, upper byte

Azimuth_H [15:8] is in the back

Azimuth Angle=[Azimuth_H, Azimuth_L]/100°=Azimuth/100°

Channel XX Unit XX 3 bytes

2 bytes distance data

Distance Value=Range*4mm

Maximum Distance Value=(2^16–1)*4mm=

262.14m

1 byte reﬂectivity data

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