Wrong packet_duration calculation

[Larsvn]

Code
Consider this code fragment in your version v0.2.2:

cyglidar_d1/src/cyglidar_pcl.cpp

Lines 69 to 75 in b30e990

	uint8_t MSB = (Duration & 0xFF) >> 8;
	uint8_t LSB = Duration & 0xFF;
	// 1st bit, set 3D or Dual
	if(mode == eRunMode::Mode3D) MSB |= (1 << 4);
	// 2nd bit, set Auto or Fixed
	if(setAutoDuration == false) MSB |= (1 << 3);

Problems

• uint8_t MSB = (Duration & 0xFF) >> 8;
  Results in MSB = 0 at all times. So the higher part of the duration is lost.

• bit adjustment for different modes is on wrong bits with wrong values

Suggested fixes

`
// Reset the highest two bits of Duration and mask out the lower byte,
// then shift right.
uint8_t MSB = (Duration & 0x3F00) >> 8;
uint8_t LSB = Duration & 0xFF;

// 1st bit, set 3D or Dual
if(mode == eRunMode::ModeDual) MSB |= (1 << 7);
// 2nd bit, set Auto or Fixed
if(setAutoDuration == false) MSB |= (1 << 6);
`

Referenced manual
Screenshot from this manual:

[madgrizzle]

Using your method I get the correct values for duration. However, I think the param for auto is wrong (you're implementation is fine, just the documentation is wrong). They said that 0 is auto and 1 is manual when you examine the launch file, but if you set it to 0, then setAutDuration is false (conversion from 0 dec to binary is false) and therefore the bit gets set to 1.. which means fixed. Once you figured the above out and I figured out the fixed/auto, I could set the duration to a lower number (3500) and it got rid of all my floor reflections. Thank you! I didn't want to give up on this like cygbot seems to have :)