DFRobot SEN0521 User Manual page 22

 One point cloud target output corresponds to one string message. Multiple targets result in multiple
string messages. If there are no targets, no messages will be outputted.
 The current version only outputs one point cloud target, which is the target closest to the module's
distance.
Note: The detection result output is controlled by the configuration command setUartOutput, which can turn off the output,
set the output period, query-only output mode, etc.
Response:
$JYRPO,par1,par2,par3,par4,par5,par6,par7*
Parameter items:
par1
par2
par3
par4
par5
par6
par7
Example:
Output 1 point cloud
target with a
distance of 0.882
meters from the
distance module.
Total number of point cloud targets:
Integer type, value range: 1~8.
Note: The current version only takes a value of 1, indicating support for only one point cloud
target.
Point cloud target number: integer type, with a
value range of 1 to the total number of point
cloud targets.
Current distance to point cloud target:
single precision floating-point type, with
unit in meters.
Placeholder parameter:
reserved, replaced with
empty spa
Current signal-to-noise ratio of point cloud target (signal
amplitude divided by threshold): single precision floating-point
type, with unitless value.
Note: for reference only, a higher signal-to-noise ratio indicates a higher
reliability of the currently detected target.
Placeholder parameter:
reserved, replaced with a
space.
Placeholder parameter:
reserved, replaced with a
space.
$JYRPO,1,1,0.882, ,1.562, , *
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