User Manual

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
The following table describes the filed definition of the Cabin data.
Figure 4-13 Field Definition of RPLIDAR Express Scan Cabin Data Response Packet
The following figure describes the communication status after the host system
sending out the express scan request.
Figure 4-14 The Communication Status Sending Out the Express Scan Request
Field Definition
Description
Examples/Notes
distance1
distance2
The distance data for the first and
second measurement sampling.
The unit is millimeter(mm)
When the value is 0, the matched
sampling point is invalid.
The first sampling time is
before the second.




The angular compensation value for
the first and second measurement
sampling.
It uses fix point number in q3 format
and the unit is degree. The top digit
is sign bit.
Please refer to the following
sections for how to calculate
the included angle value of
every measurement sampling
point.
RPLIDAR
Host system
A5
A5
…
A new request
Data transmission order:
…
…
S=0
360o scan
A new scan
A5
5A
54
00
00
40
82
82
05
…
S=1