RoboSense LiDAR Helios-16P - Page 26

RS-Helios-16P User Manual
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The MSOP packet structure of dual return data is as shown in the figure below:
Figure 13 MSOP Packet Definition of Dual Return Data
6.2.2.1 Channel Data
Each channel data has 3 bytes, the upper two bytes store distance information, and the lower one
byte stores reflectivity information, as shown in the figure below.
Table 10 Channel Data
Channel data n （3 bytes）
2 byte Distance
1 byte Reflectivity
Distance1 [15:8]
Distance2 [7:0]
Reflectivity
42 bytes
(byte 21 to
30 store
timestamp
4 bytes
reserved
*
2 bytes
(0x00,0xF
F)
First return
Second return