Manual

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0xA509

Increase the current scan frequency of 0.1Hz

0xA50A

Reduce the current scan frequency of 0.1Hz

0xA50B

Increase the current scan frequency of 1Hz

0xA50C

Reduce the current scan frequency of 1Hz

The above commands are the same type of commands and have the same message structure. The

scan frequency setting command has the following message structure:

FIG 15 YDLIDAR G4 SCAN FREQUENCY SETTING MESSAGE

According to the protocol resolution: response length = 0x00000004, answer mode = 0x0, type code

= 0x04.

That is, the number of response content bytes is 4; this response is a single response, and the type

code is 04. The response content represents the currently set scanning frequency, and its solution

formula is:

 





Among them, AnswerData is converted to decimal data for response content (small-endian mode) in

Hertz (Hz).

Scan frequency acquisition [A5 0D]

This command is used to get the scan frequency (note that it is not a real-time frequency). The

message structure and response content are consistent with the scan frequency setting command. The

user can refer to the scan frequency setting [A5 09/0A/0B/0C]. This section does not describe it.

Constant frequency enable [A5 0E]

This command is used to enable the constant frequency of the system. After being enabled, when the

lidar is in scanning mode, it will automatically adjust the speed so that the scanning frequency will

be stabilized at the currently set scanning frequency. G4 defaults to constant frequency.

The command message is as follows:

FIG 16 YDLIDAR G4 CONSTANT FREQUENCY ENABLED PACKET

According to the protocol resolution: response length = 0x00000001, answer mode = 0x0, type code

= 0x04.

‥‥

Start sign

Length

Mode

Type code

Content