User's Manual

48
Feedback message payload
Table 6.10 PTC_COMMAND_GET_CONFIG_INFO (continued on the next page)
Field
Length
Description
ipaddr
4 bytes
IP address of the device
Default 192.168.1.201
mask
4 bytes
Subnet mask of the device
Default 255.255.255.0
gateway
4 bytes
Gateway of the device
Default 192.168.1.1
dest_ipaddr
4 bytes
Destination IP address of Point Cloud Data Packets
Default 255.255.255.255
dest_lidar_udp_port
2 bytes
Destination UDP port of Point Could Data Packets
Default 2368
dest_gps_udp_port
2 bytes
Destination UDP port of GPS Data Packets, valid only when the ‘clock_source’ is ‘GPS’
Default 10110
spin_rate
2 bytes
Rotation speed of the motor, in units of rpm
Default 600
sync
1 byte
Whether to synchronize the given angle (sync_angle) with GPS PPS
0 – Disable (default) 1 – Enable
sync_angle
2 bytes
Default 0
start_angle
2 bytes
Default 0
Device will output point cloud data in the angle ranges between ‘start_angle’ and ‘stop_angle’
stop_angle
2 bytes
Default 36000, in units of 0.01 degrees
clock_source
1 byte
To configure clock source
0 – GPS (default) 1 – PTP
udp_seq
1 byte
Whether the point cloud data will include a UDP sequence number field
0 – UDP sequence OFF (default) 1 – UDP sequence ON
trigger_method
1 byte
0 - angle based 1 - time based (default)