RoboSense LiDAR RS-Helios-16P - Info Registers: Corrected Vertical Angle Details

RS-Helios-16P User Manual
39
Function
Channel 4 vertical angle
Channel 5 vertical angle
Channel 6 vertical angle
Byte No.
byte19
byte20
byte21
byte22
byte23
byte24
byte25
byte26
byte27
Function
Channel 7 vertical angle
Channel 8 vertical angle
Channel 9 vertical angle
Byte No.
byte28
byte29
byte30
byte31
byte32
byte33
byte34
byte35
byte36
Function
Channel 10 vertical angle
Channel 11 vertical angle
Channel 12 vertical angle
Byte No.
byte37
byte38
byte39
byte40
byte41
byte42
byte43
byte44
byte45
Function
Channel 13 vertical angle
Channel 14 vertical angle
Channel 15 vertical angle
Byte No.
byte46
byte47
byte48
Function
Channel 16 vertical angle
Register description:
(1) The channel vertical angle value is composed of 3 bytes, among which the 1
st
byte is used to
indicate positive/negative angle, the 2
nd
and 3
rd
bytes indicate angle value. The data storage adopts
big-endian format;
(2) The 1
st
byte of the vertical angle value, 0x00 means a positive angle, 0x01 means a negative
angle;
(3) The angle resolution: LBS=0.01;
(4) For example, the register value of channel 1: byte1=0x00, byte2=0x05(converted to decimal is
5), byte3=0xd6(converted to decimal is 214), then the vertical angle of channel 1 is: (5*256+
214)*0.01=14.95°.