RoboSense LIDAR RS-Helios-5515 - Tail

RS-Helios-1615 User Manual
21
Figure 10 MSOP Packet
Note:
Red Box: Header ID;
Orange Box: Data Block flag;
Blue Box: Azimuth value of Channel data 1;
Green Box: Distance value of Channel data 1.
1. Calculate distance based on distance data in
the data packet:
1) Find the distance value in the data packet and
convert to a hexadecimal number: 0x01 ,0x40
2) Convert a 16bit unsigned integer: 0x0140
3) Convert to a decimal number: 320
4) Calculate according to the distances resolution
5) Result: 320*0.25 = 8m
2. Calculate azimuth based on azimuth data in
the data packet:
1) Find the azimuth value in the data packet and
convert to a hexadecimal number: 0x88，0xdb
2) Convert to a 16bit unsigned integer: 0x88db
3) Convert to a decimal number: 35035
Divided by 100
4) Result:：350.35 degrees
6.2.2.2 Azimuth Value
The azimuth value of each data block is the azimuth value reported by the first laser of the firing
sequence of this data block. Azimuth value is recorded by angle encoder with the zero position of
the angle encoder corresponding the zero degree of the azimuth value. The azimuth resolution is
0.01 degrees.
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.