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Command
Typical return
?SU
su:0
#SU,1
su:1
0'
No response
0' or 0 or 1 or 129
78.23
Data streaming
The LW20 can stream up to five read commands (?).
Set a stream using the format: <$><stream num><,><parameter name><CR>
For example:
To stream the median distance to the first return, on stream one:
To stream the signal strength of first return, on stream two:
You can clear an individual stream by using:
You can clear all streams by sending $<CR>
Streams are considered a settable parameter like any other in the LW20, therefore you can save the stream to persist through boot
up. The command %p<CR> will save all settings.
Note: Saving parameters in the LW20 happens on flash memory, which has limited writes. This is not a problem for everyday use, but
don't call the save command in a tight loop, as you could exhaust the flash if you accidentally call it a few hundred thousand times.
LW20 / SF20 LiDAR - Product manual - Revision 7
Description
Check if distance streaming is active
Switch distance streaming on or off:
0 = off
1 = on
Enable I2C legacy distance streaming
Legacy commands for the I2C port
Enable output binary coded distance in centimeters
Send any other command to disable
$1,ldf<CR>
$2,lhf<CR>
$<stream num><CR>
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© LightWare Optoelectronics (Pty) Ltd, 2018
LW20 / SF20 LiDAR sensor
Product manual
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www.lightware.co.za
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