IWR1642: mmWave SDK message output information (rangeIdx and angle)

Part Number:IWR1642

Hi,

Two questions:

1. rangeIdx: can you give me more detail information for this?  

I checked (C:/ti/mmwave_sdk_02_01_00_04/packages/ti/demo/xwr16xx/mmw/docs/doxygen/html/struct_mmw_demo__detected_obj__t.html), it show range index only.

2. In SDK v2.1.0.4, how to form message output, find the detect points angle?

It show x, y, Doppler, range index... no angle

Thanks