RS-Helios-16P User Manual
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6.2.2
Data Blocks
As shown in the table below, the Data Blocks in the MSOP packet store the data measured by the
sensor, and has a total of 1200 bytes. There are a total of 12 data blocks in one MSOP Packet. Each
data block has 100 bytes and represents a complete measurement. Each data block starts with a
2-byte flag: Oxffee, followed by a 2-byte azimuth value (horizontal rotation angle), and 32 channel
data (each channel data has 3 bytes) corresponding to 2 firing sequences of the 16 lasers (channel
data 1… to channel data 32). Please refer to Section 6 of this manual for the relationship between
channel number and vertical angle.
The MSOP packet structure of single return data is as shown in the figure below:
Figure 12 MSOP Packet Definition of Single Return Data
42 bytes
(byte 21 to
30
store
timestamp
4
bytes
reserved
*
2
bytes
(0x00,0xF
F)
