interpolation (please refer to Section 6.2.2.3 for the interpolation method).
6.2.2.3 Azimuth Value Interpolation
Because the RS-Helios-16P reports the azimuth value for every-other 16-laser firing sequence,
when the LiDAR works in single return mode, for the firing sequence which does not report the
azimuth value, it’s helpful to interpolate the un-reported azimuth value. There are several ways to
interpolate the un-reported azimuth value, but the one given below is the easiest one.
In one data packet, the time interval between the first channel data collection of block N(N is the
number of the block, N≥1) and the first channel data collection of block N+1 is ~100us, assuming
that the LiDAR rotates at a constant speed during this period. Therefore, the azimuth recorded by
the first channel data of the N+1 firing sequence can be calculated as the mean azimuth value of
the azimuth value recorded in the first channel data of the N firing sequence and that of the N+2
firing sequence.
The following pseudo-codes detects whether the azimuth passes from 359.99 to 0 degrees from
the Nth group to the N+2nd group. Set N=1 as follows:
// First, adjust for a rollover from 359.99° to 0°
If (Azimuth[3] < Azimuth[1])
Then Azimuth[3]:= Azimuth[3]+360;
Endif;
// Perform the interpolation
Azimuth[2]:=Azimuth[1]+((Azimuth[3]-Azimuth[1])/2);
// Correct for any rollover over from 359.99° to 0°
If (Azimuth[2]>360)
Then Azimuth[2]:= Azimuth[2]-360;
Endif
6.2.3 Tail
The Tail is 6 bytes in length, among which 4 bytes are reserved, and the other 2 bytes are 0x00 and
0xFF.
6.3 Device Info Output Protocol（DIFOP）
Device Info Output Protocol is abbreviated as DIFOP
I/O type: device output, computer read.
Default port number: 7788.
DIFOP is an "output-only" protocol to periodically send the LiDAR serial number (S/N), firmware
version information, host computer driver compatibility information, network configuration
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