RS-Helios-1610 User Manual
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Table 9 MSOP Header
Note: The time stamp is used to record the time of the sensor system, with a resolution of 1us. Please refer to the
definition of time in Appendix B.13.
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 a firing sequences of the 32 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.
Header (42 bytes)
Field
Offset Length (byte
）
Description
Header ID
0
4
55_aa_05_5a
Protocol Version
4
2
00_01
Resv
6
2
Top Board Sending Packet Count
8
4
4 Bytes in total, form a sequence with a
increment of 3
Bottom Board Sending Packet Count
12
4
Resv
16
1
Range Resolution
17
1
1: 0.25cm
；
0
：
0.5cm
Angle pulse interval count
18
2
Unit: us
Timestamp
20
10
First 6 Bytes are second bits, last 4 bytes
are microsecond bits
Resv
30
1
LiDAR Type
31
1
Identify LiDAR model
0x06:RS-Helios
LiDAR Model
32
1
0x01:RS-Helios-5515
0x02:RS-Helios-1610
0x03:RS-Helios-16P
0x04:RS-Helios-1610
Resv
33
9
Reserved for future updates
