Interface Protocol

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
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Figure 4-16 Field Definition of RPLIDAR Express Scan Data Response Ultra
Capsuled Packet
Following table defines fields in ultra cabin data structure:
Figure 4-17 Field Definition of RPLIDAR Express Scan Ultra Cabin Data Response
Packet
Ultra cabin uses a SLAMTEC-patented (CN 108306649 A) compression technology
to encode measurements. The `major` field is a 12bit value encoded in a variable
scale format. The `predict1` and `predict2` fields are 10bit predict value. Please refer