Interface Protocol

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For instance, device returning 2 according to this query means that the device

support 2 work modes, whose ids are 0, 1. The host system may use the work mode

id and other configuration type to get specific characters of the work mode.

RPLIDAR_CONF_SCAN_MODE_US_PER_SAMPLE (0x71) Configuration

Entry

Get sample duration of the scan mode, whose id is specified by the payload of

request.

The return value is a 32bit unsigned int in Q8 fixed point format. For instance, LIDAR

returns 64000 for Express scan mode, which means it cost 64000 / (1<<8) = 250

microseconds for one sample in Express scan mode.

RPLIDAR_CONF_SCAN_MODE_MAX_DISTANCE (0x74) Configuration

Entry

Get max measurement distance of the scan mode, whose id is specified by the

payload of request.

The return value is a 32bit unsigned int in Q8 fixed point format, and in meters’ unit.

RPLIDAR_CONF_SCAN_MODE_ANS_TYPE (0x75) Configuration Entry

Get the answer command type of the scan mode, whose id is specified by the

payload of request.

The return value is 8bit unsigned int, denotes the answer command type.

Typical return answer types:

 0x81 – For standard mode, returns data in

rplidar_resp_measurement_node_t

 0x82 – For express mode, returns data in capsuled format

 0x83 – For boost, stability and sensitivity mode, returns data in ultra

capsuled format