RS-LiDAR-16 User Manual
B.6 Bottom Board Firmware (BOT_FRM)
Register description：
If our top board firmware revision is B7R14V4_T1_F, then BOT_FRM will output 07 14 04 01 F0. In the
output, the A represents release version Application, while the F represents factory version Factory.
B.7 Corrected Vertical Angle (COR_VERT_ANG)
Register description:
(1) The storage format of corrected vertical angle data adopts big endian format.
(2) LSB = 0.0001°
(3) The value of the vertical angle is unsigned integer. Channel 1 to Channel 8 pitches downwards,
channel 9 to channel 16 pitches upwards.
For example, the calculation of vertical angle of channel 9:
byte1 = 0x00, byte2 = 0x27, byte3 = 0x10.
COR_VERT_ANG(48 bytes in total)
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