User's Manual

Additional Information: 16 bytes

Table 3.4 Point Cloud Data UDP Data-Additional Information

Reserved 2 bytes reserved data, meaningless

Reserved 5 bytes reserved data, meaningless

High Temperature

Shutdown Flag

1 byte

0x01 means high temperature; 0x00 means normal operation

· during normal operation, shutdown ﬂag keeps being 0x00

· if high temperature is detected and system needs to be shut down, the shutdown ﬂag will be set to 0x01, and the

system will be shut down after 60 seconds. The ﬂag keeps being 0x01 during the 60 seconds and shutdown period

· after the high temperature shutdown, the Lidar temperature will decrease. When the system is not in high

temperature status, the shutdown ﬂag will be reset to 0x00 and the system can return to normal operation

Motor Speed 2 bytes speed_2_bytes [15:0] = speed (RPM)

GPS Timestamp 4 bytes

the firing time of the first laser in the first block, the unit is 1 μs, maximum value is 71.58 minutes

Return Mode Information 1 byte the strongest return (0x37), the last return (0x38), dual return (0x39)

Factory Information 1 byte 0x42 (or 0x43)

Taking Channel 5 in block 3 of a UDP Data Packet as an example, please see Appendix I for detailed channel distribution:

1) Horizontal angle oﬀset of the laser is -2.50°, and vertical angle of the laser is 3.00° for Channel 5 (refer to Appendix I).

2) Horizontal angle is the current reference angle of the rotor plus horizontal angle oﬀset, so the result is (Azimuth Angle 3+(-2.5)) degree.

(NOTE We deﬁne clockwise as a positive direction of the angle from top view)

3) Analyze the “Channel 5 Unit 3” from the UDP Data Packet, and the distance formed by upper 2 bytes multiplied by 4 mm is the actual

distance in millimeters in the real world.

By now, the direction and distance of this point have been decided, and this obstacle point could be drawn in the polar or rectangular

coordinate system. The real-time point cloud data of Pandar40 can be drawn by analyzing every data in the UDP Data Packet using the

above method.

Example of UDP Data Analysis

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