API

Omniscan 3D communication uses a packet protocol common to several Cerulean Sonar products. Please refer to the Cerulean Ping Protocol document for the canonical packet format and other background information.

Packet Payload Definitions

This section defines the packet ID types specific to Omniscan 3D.

Packet Name	Packet ID
OS3D_SET_PING_PARAMETERS​	3024
​ATTITUDE_REPORT​	504
​OS3D_POINT_SET​	3104
​END_PING_INFO​	3010
​SET_NTP_INFO​	Removed. NTP Server will be specified in the os3d_config.json file.