User's Manual

16
Additional Information
Table 3.4 Point Cloud UDP Data – Additional Information
Additional Information: 22/26 bytes when UDP sequence is OFF/ON
Reserved
5 bytes
-
High Temperature Shutdown
Flag
1 byte
0x01 for high temperature; 0x00 for normal operation
• When high temperature is detected, the shutdown flag will be set to 0x01, and the system will shut
down after 60 s. The flag remains 0x01 during the 60 s and the shutdown period
• When the system is no longer in high temperature status, the shutdown flag will be reset to 0x00 and
the system will automatically return to normal operation
Reserved
2 bytes
-
Motor Speed
2 bytes
speed_2_bytes[15:0] = speed (RPM)
GPS Timestamp
4 bytes
Packing time of this data packet, in units of 1 μs
Range: 0 to 1000000 μs (1 s)
Return Mode Information
1 byte
0x37 for Strongest Return mode, 0x38 for Last Return mode, and 0x39 for Dual Return mode
Factory Information
1 byte
0x42 (or 0x43)
UTC
6 bytes
UTC time in decimal: year, month, date, hour, minute, second
UDP Sequence
4 bytes
Added only when UDP sequence is ON
Label the sequence number of Point Cloud UDP packets, 1 to 0xFF FF FF FF in little endian format
Example of UDP Data Analysis in Point Cloud Data Packets
Take Pandar40P’s Channel 5 in Block 3 of the UDP Data as an example:
1) Vertical angle of Channel 5 is 3.00°, according to Appendix I Channel Distribution
2) Horizontal angle is the current reference angle of the rotor (Azimuth of Block 3) plus the horizontal angle offset (-1.042°, according to Appendix I).
Define clockwise in the top view as the horizontal angles’ positive direction
3) The 2-byte distance data in the UDP Data Packet, multiplied by 4 mm, is the actual distance in real world millimeters
After determining the horizontal angle, vertical angle, and distance of a data point, this point can be drawn in a polar or rectangular coordinate system. The
real-time point cloud data is drawn by analyzing every point in the UDP data.