Ping360 auto_transmit clarification

Blue Robotics Products Ping Sonar Devices
1

Hi,

While testing the Ping360 auto_transmit function, I observed the following behaviors:

  1. When the difference between start_angle and stop_angle is greater than 180°:

    • The system performs only an incremental (CW) sweep and does not execute the decremental (CCW) sweep.

  2. When start_angle > stop_angle with a negative resolution:

    • The device repeatedly outputs data only for the start_angle and start_angle + 10 gradians.

    • It does not continue sweeping up to the specified stop_angle.

  3. When the difference between start_angle and stop_angle is ≤ 180°:

    • Both CW and CCW sweeps occur as expected.

    • However, some angles are occasionally skipped or missing during the scan.

Additionally, I noticed that sometimes the transmitted data includes an angle slightly beyond the stop angle (stop_angle + resolution), while at other times it does not.

Could you please clarify how the auto_transmit function determines:

  • When to stop the current sweep and initiate the return (reverse) sweep, and

  • Under what conditions it skips the decremental sweep or omits certain angles?