Application Programming Interface

Surveyor 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 the Surveyor 240-16.

SET_PING_PARAMETERS is used to control the operation of Surveyor.

ATTITUDE_REPORT is a response packet Surveyor sends to the host application containing information about the attitude (pitch and roll) of the device based on it's internal sensors.

ATOF_POINT_DATA is a response packet Surveyor sends to the host application containing angle and time of flight for each detected point.

YZ_POINT_DATA is a response packet that Surveyor sends to the host application containing the detected depth points.