Fix AVIA wiki error
Signed-off-by: Livox-SDK <dev@livoxtech.com>
Livox-SDK
@@ -239,7 +239,7 @@ $GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
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**时间戳 4**
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**时间戳 4**
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PPS 同步源使用RS485电平信号. 时序图如下. PPS的上升沿将会把时间戳复位为0，所以点云数据的时间戳表明了电云采样和PPS上升沿的间隔。在IMU数据包中，由于补偿延迟，时间偏移可能为负。
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PPS 同步源使用RS485电平信号. 时序图如下. PPS的上升沿将会把时间戳复位为0，所以点云数据的时间戳表明了点云采样和PPS上升沿的间隔。在IMU数据包中，由于补偿延迟，时间偏移可能为负。
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## 3.3 点云/IMU数据
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## 3.3 点云/IMU数据
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@@ -468,7 +468,7 @@ Hub状态码由32bits组成，相应的bit含义如下:
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| data | cmd_set | 0 | uint8_t | 通用命令: 0x00 |
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| data | cmd_set | 0 | uint8_t | 通用命令: 0x00 |
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| | cmd_id | 1 | uint8_t | 指令ID: 0x00 |
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| | cmd_id | 1 | uint8_t | 指令ID: 0x00 |
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| | broadcast_code | 2 | uint8_t[16] | 设备广播码，以'\0'结束的字符串 <br>每个设备的广播码特有. |
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| | broadcast_code | 2 | uint8_t[16] | 设备广播码，以'\0'结束的字符串 <br>每个设备的广播码特有. |
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| | dev_type | 18 | uint8_t | 设备类型:<br> 0: Livox Hub <br>1: Mid-40 <br>2: Tele-15 <br>3: Horizon<br>6: Mid-70<br>7: Avia |
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| | dev_type | 18 | uint8_t | 设备类型:<br> 0: Livox Hub <br>1: Mid-40 <br>2: Tele-15 <br>3: Horizon<br>6: Mid-70<br>7:Avia |
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| | reserved | 19 | uint16_t | 保留 |
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| | reserved | 19 | uint16_t | 保留 |
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### 0x01 网络握手确认指令
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### 0x01 网络握手确认指令
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@@ -870,11 +870,11 @@ IP地址信息:
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请求
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请求
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| CMD | 名称 | 偏移(字节) | 数据类型 | 描述 |
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| CMD | 名称 | 偏移(字节) | 数据类型 | 描述 |
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| ---- | ------- | ------ | ------- | ---------------------------------------- |
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| ---- | ------- | ---------- | -------- | ------------------------------------------------------------ |
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| data | cmd_set | 0 | uint8_t | 雷达指令: 0x01 |
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| data | cmd_set | 0 | uint8_t | 雷达指令: 0x01 |
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| | cmd_id | 1 | uint8_t | 指令ID: 0x06 |
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| | cmd_id | 1 | uint8_t | 指令ID: 0x06 |
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| | mode | 2 | uint8_t | 回波模式:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return <br>0x03: Triple Return |
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| | mode | 2 | uint8_t | 回波模式:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return<br>0x03: Triple Return |
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应答
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应答
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@@ -896,12 +896,12 @@ IP地址信息:
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应答
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应答
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| ACK | 名称 | 偏移(字节) | 数据类型 | 描述 |
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| ACK | 名称 | 偏移(字节) | 数据类型 | 描述 |
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| ---- | -------- | ------ | ------- | ---------------------------------------- |
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| ---- | -------- | ---------- | -------- | ------------------------------------------------------------ |
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| data | cmd_set | 0 | uint8_t | 雷达指令: 0x01 |
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| data | cmd_set | 0 | uint8_t | 雷达指令: 0x01 |
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| | cmd_id | 1 | uint8_t | 指令ID: 0x07 |
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| | cmd_id | 1 | uint8_t | 指令ID: 0x07 |
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| | ret_code | 2 | uint8_t | 返回码: <br>0x00: 成功 <br>0x01: 失败 |
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| | ret_code | 2 | uint8_t | 返回码: <br>0x00: 成功 <br>0x01: 失败 |
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| | mode | 3 | uint8_t | 回波模式:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return |
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| | mode | 3 | uint8_t | 回波模式:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return<br>0x03: Triple Return |
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### 0x08 设置IMU数据推送频率
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### 0x08 设置IMU数据推送频率
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**支持设备:** <br>Horizon/06.04.0000+ <br>Tele-15/07.03.0000+<br>Avia/11.06.0000+<br>
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**支持设备:** <br>Horizon/06.04.0000+ <br>Tele-15/07.03.0000+<br>Avia/11.06.0000+<br>
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@@ -472,7 +472,7 @@ message
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| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
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| data | cmd_set | 0 | uint8_t | General Command: 0x00 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x00 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x00 |
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| | broadcast_code | 2 | uint8_t[16] | Device Broadcast Code, C-Style string end with '\\0' <br>The Broadcast Code of Each Device is UNIQUE. |
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| | broadcast_code | 2 | uint8_t[16] | Device Broadcast Code, C-Style string end with '\\0' <br>The Broadcast Code of Each Device is UNIQUE. |
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| | dev_type | 18 | uint8_t | Device Type:<br> 0: Livox Hub <br>1: Mid-40 <br>2: Tele-15 <br>3: Horizon<br>6: Mid-70<br>7: Avia<br> |
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| | dev_type | 18 | uint8_t | Device Type:<br> 0: Livox Hub <br>1: Mid-40 <br>2: Tele-15 <br>3: Horizon<br>6: Mid-70<br>7:Avia<br> |
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| | reserved | 19 | uint16_t | Reserved |
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| | reserved | 19 | uint16_t | Reserved |
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### 0x01 Handshake
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### 0x01 Handshake
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@@ -875,11 +875,11 @@ response
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request
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request
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| CMD | Name | Offset (byte) | Data Type | Description |
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| CMD | Name | Offset (byte) | Data Type | Description |
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| ---- | ------- | ------------- | --------- | ---------------------------------------- |
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| ---- | ------- | ------------- | --------- | ------------------------------------------------------------ |
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| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
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| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x06 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x06 |
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| | mode | 2 | uint8_t | Return Mode:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return <br>0x03: Triple Return|
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| | mode | 2 | uint8_t | Return Mode:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return<br>0x03: Triple Return |
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response
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response
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@@ -901,12 +901,12 @@ request
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response
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response
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| ACK | Name | Offset (byte) | Data Type | Description |
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| ACK | Name | Offset (byte) | Data Type | Description |
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| ---- | -------- | ------------- | --------- | ---------------------------------------- |
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| ---- | -------- | ------------- | --------- | ------------------------------------------------------------ |
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| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
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| data | cmd_set | 0 | uint8_t | LiDAR Command: 0x01 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x07 |
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| | cmd_id | 1 | uint8_t | Command ID: 0x07 |
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| | ret_code | 2 | uint8_t | Return Code: <br>0x00: Success <br>0x01: Fail |
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| | ret_code | 2 | uint8_t | Return Code: <br>0x00: Success <br>0x01: Fail |
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| | mode | 3 | uint8_t | Return Mode:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return |
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| | mode | 3 | uint8_t | Return Mode:<br>0x00: Single Return First <br>0x01: Single Return Strongest <br>0x02: Dual Return<br>0x03: Triple Return |
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### 0x08 Set IMU Data Push Frequency {#imu_freq}
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### 0x08 Set IMU Data Push Frequency {#imu_freq}
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**Supported devices:** <br>Horizon/06.04.0000+ <br>Tele-15/07.03.0000+<br>Avia/11.06.0000+<br>
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**Supported devices:** <br>Horizon/06.04.0000+ <br>Tele-15/07.03.0000+<br>Avia/11.06.0000+<br>
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