Hesai PandarQT - Appendix II: PTP Protocol; LIDAR Connection When Using PTP

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Table II.1 Laser Firing Time of Each Channel (Continued)
Firing Sequence
Laser ID
Firing Time (μs)
Firing Sequence
Laser ID
Firing Time (μs)
33
33
tn + 25.71 + Δt + 70.90
49
49
Tn + 25.71 + Δt + 105.20
34
34
tn + 25.71 + Δt + 72.97
50
50
Tn + 25.71 + Δt + 107.26
35
35
tn + 25.71 + Δt + 75.02
51
51
Tn + 25.71 + Δt + 109.32
36
36
tn + 25.71 + Δt + 77.08
52
52
Tn + 25.71 + Δt + 111.38
37
37
tn + 25.71 + Δt + 79.14
53
53
Tn + 25.71 + Δt + 113.43
38
38
tn + 25.71 + Δt + 81.19
54
54
Tn + 25.71 + Δt + 115.49
39
39
tn + 25.71 + Δt + 83.25
55
55
Tn + 25.71 + Δt + 117.54
40
40
tn + 25.71 + Δt + 85.30
56
56
Tn + 25.71 + Δt + 119.60
41
41
tn + 25.71 + Δt + 87.75
57
57
Tn + 25.71 + Δt + 122.05
42
42
tn + 25.71 + Δt + 89.82
58
58
Tn + 25.71 + Δt + 124.11
43
43
tn + 25.71 + Δt + 91.87
59
59
Tn + 25.71 + Δt + 126.17
44
44
tn + 25.71 + Δt + 93.93
60
60
Tn + 25.71 + Δt + 128.22
45
45
tn + 25.71 + Δt + 95.98
61
61
Tn + 25.71 + Δt + 130.28
46
46
tn + 25.71 + Δt + 98.04
62
62
Tn + 25.71 + Δt + 132.34
47
47
tn + 25.71 + Δt + 100.10
63
63
Tn + 25.71 + Δt + 134.39
48
48
tn + 25.71 + Δt + 102.15
64
64
Tn + 25.71 + Δt + 136.45