Note that the first timestamp (Words 0,1) is for diagnostics only and is rarely used under normal op-
eration.
Thesecondtwotimestamps,(Words2,3)and(Words4,5),aresampledonthesameclockasthelidar
data,so shouldbe usedformostapplications.
Ousterprovidestimestampsforboththegyroandaccelerometerinordertogiveaccesstothelowest
levelinformation. In mostapplications itisacceptable touse theaverageofthe twotimestamps.
11 DataRates
The table below calculates the data of all products operating at the highest lidar modes, 2048x10 or
1024x20 (*).
Product Lidar packet
size(Bytes)
Lidar packets
rate*(Hz)
IMU packet
size(Bytes)
IMU packets
persecond
Data rate
(Mbps)
OS1-16 3,392 1,280 48 100 34.77
OS0-32, OS1-
32,OS2-32
6,464 1,280 48 100 66.23
OS0-64, OS1-
64,OS2-64
12,608 1,280 48 100 129.14
OS0-128, OS1-
128,OS2-128
24,896 1,280 48 100 254.97
19
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