Table 17.4 –continuedfrompreviouspage
set_config_param CommandDescription Response
lidar_mode <mode> Set the horizontal resolution and rota-
tion rate of the sensor. Valid modes are
512x10, 1024x10, 2048x10 512x20, 1024x20.
Each 50% the total number of points
gathered is reduced (e.g., from 2048x10
to1024x10)extendsrange by15-20%.
set_config_param onsuc-
cess,error: otherwise
timestamp_mode <mode> Set the method used to times-
tamp measurements. Valid
modes are TIME_FROM_INTERNAL_OSC,
TIME_FROM_SYNC_PULSE_IN, or
TIME_FROM_PTP_1588.
set_config_param onsuc-
cess,error: otherwise
sync_pulse_in_polarity <1/
0>
Set the polarity of SYNC_PULSE_IN
input, which controls polar-
ity of SYNC_PULSE_IN pin
when timestamp_mode is set in
TIME_FROM_SYNC_PULSE_IN.
set_config_param onsuc-
cess,error: otherwise
nmea_in_polarity <1/0> Set the polarity of NMEA UART input
$GPRMC messages. See Time Syn-
crhonizationsectioninsensoruserguide
for NMEA use case. Use ACTIVE_HIGH if
UARTisactivehigh,idlelow,andstartbit
isafter afalling edge.
set_config_param onsuc-
cess,error: otherwise
nmea_ignore_valid_char <1/
0>
Set0 ifNMEAUARTinput$GPRMCmes-
sages should be ignored if valid charac-
terisnotset,and1 ifmessagesshouldbe
used for time syncing regardless of the
validcharacter.
set_config_param onsuc-
cess,error: otherwise
nmea_baud_rate <rate in
baud/s>
Set BAUD_9600 (default) or BAUD_115200 for
the expected baud rate the sensor is at-
tempting to decode for NMEA UART in-
put$GPRMC messages.
set_config_param onsuc-
cess,error: otherwise
nmea_leap_seconds <s> Set an integer number of leap seconds
that will be added to the UDP times-
tamp when calculating seconds since
00:00:00 Thursday, 1 January 1970. For
UnixEpoch time,this shouldbeset to0.
set_config_param onsuc-
cess,error: otherwise
multipurpose_io_mode <mode> Configure the mode of the MULTIPUR-
POSE_IO pin. Valid modes are OFF, IN-
PUT_NMEA_UART, OUTPUT_FROM_INTERNAL_OSC,
OUTPUT_FROM_SYNC_PULSE_IN, OUT-
PUT_FROM_PTP_1588, or OUT-
PUT_FROM_ENCODER_ANGLE.
set_config_param onsuc-
cess,error: otherwise
continueson nextpage
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