> For the complete documentation index, see [llms.txt](https://docs.ceruleansonar.com/c/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.ceruleansonar.com/c/omniscan3d/technical-details/api.md).

# API

Omniscan 3D communication uses a packet protocol common to several Cerulean Sonar products. Please refer to the [Cerulean Ping Protocol](https://docs.ceruleansonar.com/c/v/cerulean-ping-protocol) document for the canonical packet format and other background information.

### **Packet Payload Definitions** <a href="#packet-payload-definitions" id="packet-payload-definitions"></a>

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

| Packet Name                                                                                     | Packet ID |
| ----------------------------------------------------------------------------------------------- | --------- |
| [OS3D\_SET\_PING\_PARAMETERS](/c/omniscan3d/technical-details/api/os3d_set_ping_parameters.md)​ | 3024      |
| ​[ATTITUDE\_REPORT](/c/omniscan3d/technical-details/api/attitude_report.md)​                    | 504       |
| ​[OS3D\_POINT\_SET](/c/omniscan3d/technical-details/api/os3d_point_set.md)​                     | 3104      |
| ​[END\_PING\_INFO](/c/omniscan3d/technical-details/api/end_ping_info.md)​                       | 3010      |
| ​[SET\_NTP\_URL](/c/omniscan3d/technical-details/api/set_ntp_url.md)​                           | 18        |