Additional diagnostic signal information from the lidar sensor. More...

#include <AM_CAN_Lidar.h>

Public Attributes
uint16_t	peakSignalCentiMcps
	Peak return signal strength.
uint16_t	ambientCentiMcps
	Ambient light level detected by the sensor.
uint32_t	millisStamp
	Timestamp of the diagnostic sample in milliseconds since device boot.
bool	valid
	Indicates whether a debug frame has been received yet.

Detailed Description

Additional diagnostic signal information from the lidar sensor.

This data is transmitted periodically using a debug CAN frame. These values help diagnose sensor performance issues such as low reflectivity targets, bright ambient lighting, or poor mounting angles.

Member Data Documentation

◆ ambientCentiMcps

uint16_t AM_LidarDebugData::ambientCentiMcps

Ambient light level detected by the sensor.

Also measured in centi-MCPS.

◆ millisStamp

uint32_t AM_LidarDebugData::millisStamp

Timestamp of the diagnostic sample in milliseconds since device boot.

◆ peakSignalCentiMcps

uint16_t AM_LidarDebugData::peakSignalCentiMcps

Peak return signal strength.

Measured in centi-MCPS (0.01 Mega Counts Per Second).

◆ valid

bool AM_LidarDebugData::valid

Indicates whether a debug frame has been received yet.

The documentation for this struct was generated from the following file:

src/main/native/include/AM_CAN_Lidar.h