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5.2 Main Data Stream Output Protocol（MSOP）
Main data Stream Output Protocol is abbreviated as MSOP
I/O type: device output, computer analysis
Default port number: 6699
5.2.1 Header
The header has 80 bytes and is used to identify the beginning of the data packet. The structure of
the Header is as shown in the table below:
Field
Header ID
Protocol
Version
Resv
Wave_mode
Temp
Timestamp
Resv
LiDAR Type
LiDAR Model
Resv
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.14.
Table 5-2 MSOP Header
Header (80 bytes)
Length
Offset
(byte）
0
4
0x55,0xAA,0x05,0x5A,
4
2
0x01,0x02,
6
1
Reserved for future updates
Big-endian mode is adopted, the lower 4 bits are
used
7
1
corresponding bit indicates whether to select the
corresponding echo
8
2
Sensor temperature information
10
10
Time stamp which is used to record system time
20
11
Reserved for future updates
Series of Lidar
31
1
0x05:RS-Ruby plus
0x01:ruby_plus
0x02:ruby_plus_80
32
1
0x03:ruby_plus_80V
0x04:ruby_plus_48v
33
47
Reserved for future updates
17
RS-Ruby Plus User Manual
Description
to
select
the
echo
mode,
and
the
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