Velodyne HDL-64E S3 User Manual

HDL-64E S3
High Definition LiDAR Sensor
Page 33
Velodyne LiDAR, Inc.
©
2019
63-HDL64ES3 REV K
GPS Status Values
GPS Status Values
Hex
ASCII
String and Definition
41 65 A= GPS receiving both sync signal and NMEA time command record
56 86 V = GPS receiving NMEA time command record only
50 80 P = GPS receiving sync signal only
00 00 0 = GPS not connected
GPS Timestamp Conversion Example
32-bit Unsigned Integer
GPS Timestamp Example
1. Original data bytes output
92 18 52 D6
2. Reverse data bytes
D6 53 18 92
3. Convert to Decimal
3595704466
µ sec
or
3595.704466 sec
Status Type Calibration and Unit Parameters
The last two bytes for status type and status value in the packet rotate to output the sensor information
including, time, GPS status, temperature, firmware, calibration data, and sensor setting parameter, etc.
Status type H, M, S, D, N, Y, G, T and V output once every 16 packets (one cycle).
Calibration data and sensor setting parameters are loaded from the flash memory when the sensor is
powered on and are alternately output in the last 7 packets of the cycle. The whole set of this intrinsic
data needs 4160 packets or 260 cycles (4160 divided by 16 equals 260).
The following table shows status type H, M, S, D, N, Y, G, T and V only once in cycle 1. For table
simplicity, starting from cycle 2, the table only shows the status types of the last 7 packets in the cycles.

Velodyne HDL-64E S3 Specifications

General

Brand	Velodyne
Model	HDL-64E S3
Category	Accessories
Language	English