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Body
Body: 772 bytes (2 blocks)
Under the Dual Return mode, the ranging data from each firing is stored in the two blocks of one packet:
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Block 1 is the last return, and Block 2 is the strongest return
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If the last and strongest returns coincide, the second strongest return will be placed in Block 2
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The Azimuth of Block1 and Block 2 is the same
Block size = Size of Azimuth + 128 * Size of Channel XX = 386 bytes
Each Block in the Body: 386 bytes
Current reference angle of the rotor
Azimuth[15:0]: lower byte Azimuth_L[7:0], upper byte Azimuth_H[15:8].
Azimuth Angle (in degrees) = [Azimuth_H, Azimuth_L] / 100 = Azimuth / 100
Distance[15:0]: lower byte Distance_L[7:0], upper byte Distance_H[15:8]
Distance Value = [Distance_H, Distance_L] * 4 mm = Distance * 4 mm
Maximum Distance Value = (2 ^ 16 – 1) * 4 mm = 262.14 m
Reflectivity, in percentage (0 to 255
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