Hesai Pandar128 - Page 46

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Table 6.10 PTC_COMMAND_GET_CONFIG_INFO (continued)
udp_seq
1 byte
Whether the point cloud data will include a UDP sequence number field
0 – UDP sequence OFF (default)
1 – UDP sequence ON #1 (UDP sequence increments only when UDP packets are generated)
2 – UDP sequence ON #2 (UDP sequence increments even though no UDP packet is generated outside the
specified azimuth FOV)
NOTENotapplicabletoPandarQTandPandar128.ThesetwomodelsalwayshavetheUDPsequenceON.
trigger_method
1 byte
0 -angle based 1 - time based (default)
return_mode
1 byte
0 -last return 1 - strongest return 2 - dual return
standby_mode
1 byte
0 -in operation 1 - standby
motor_status
1 byte
0x0* - cannot reverse the rotation direction
0x1* - supports reversing the rotation direction
0x*0 - currently rotating clockwise
0x*1 - currently rotating counterclockwise
vlan_flag
1 byte
0 - VLAN not in use 1 - VLAN in use
vlan_id
2 bytes
VLAN ID
clock_data_fmt
1 byte
0 – GPRMC 1 – GPGGA
NOTE Not applicable to PandarQT and Pandar128
noise_filtering
1 byte
0 – OFF 1 – ON
NOTE Not applicable to PandarQT and Pandar128
reflectivity_mapping
1 byte
0-Linear Mapping 1 - Non-linear Mapping
NOTE Not applicable to PandarQT and Pandar128
reserved
6 bytes
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6.2.5 PTC_COMMAND_GET_LIDAR_STATUS
Command message payload
None