API Changelog
- Version
v3.0.1
- Date
2023-02-08
- Description
- “Added”
New HTTP Command to configure speed override (Refer to System)
- Version
v3.0.0
- Date
2023-01-26
- Description
- “Fixed”
Bug in keep-alive behavior for HTTP 1.1.
- Version
v2.4.0
- Date
2022-08-31
- Description
- “Added”
New HTTP Commands to help configure and read sensor config parameters (Refer to Sensor Metadata for more information).
GET /api/v1/sensor/config
POST /api/v1/sensor/config
New optional argument for both TCP/HTTP commands <MODE> = “summary” (Refer to get_alerts for more information).
- “Removed”
Previously deprecated parameters that have now been removed:
auto_start_flag
udp_ip
base_pn
,base_sn
andproto_rev
- “Fixed”
Pixel shift by row has been updated. Please refer to Sensor Status and Calibration.
Bug in keep-alive behavior for HTTP 1.1.
- Version
v2.3.0
- Date
2022-04-15
- Description
- “Added”
Add additional options for config parameter udp_profile_lidar, refer to Description- Configurable Parameters.
Add new TCP command get_telemetry, refer to Sensor Status and Calibration.
Add the following GET HTTP Commands (Refer to Sensor Metadata for more information):
/api/v1/sensor/metadata/sensor_info
/api/v1/sensor/metadata/lidar_data_format
/api/v1/sensor/metadata/beam_intrinsics
/api/v1/sensor/metadata/imu_intrinsics
/api/v1/sensor/metadata/lidar_intrinsics
/api/v1/sensor/metadata/calibration_status
/api/v1/sensor/metadata
/api/v1/sensor/telemetry
/api/v1/time/sensor
/api/v1/sensor/alerts
- Version
v2.2.0
- Date
2021-12-18
- Description
- “Added”
Add config parameter udp_profile_lidar, udp_profile_imu and their documentation
Add initialization_id to get_sensor_info TCP command
Add columns_per_packet to get_config_param TCP command
- “Changed”
The fields base_pn, base_sn, and proto_rev in get_sensor_info TCP command have been cleared
- Version
v2.1.3
- Date
2021-10-22
- Description
- “Added”
Added PN support
- Version
v2.1.2
- Date
2021-07-16
- Description
- “Added”
Add support for minor hardware revisions
- Version
v2.1.1
- Date
2021-06-21
- Description
- “Added”
Add configuration parameter
signal_multiplier
and its documentation
- “Removed”
Remove deprecated TCP command
set_data_dst_ip
Remove deprecated TCP command
get_data_dst_ip
Remove deprecated TCP command
set_udp_port_lidar
Remove deprecated TCP command
set_udp_port_imu
Remove deprecated TCP command
get_lidar_mode
Remove deprecated TCP command
set_lidar_mode
Remove deprecated TCP command
get_config_file_path
Remove deprecated TCP command
set_auto_start_flag
Remove deprecated TCP command
get_auto_start_flag
Remove deprecated TCP command
get_watchdog_status
- “Changed”
Fixed azimuth_window parameter logic behavior. Notable changes:
[0,0] now outputs only a single column instead of all columns.
[1,2] results in sensor startup failure and an alert because there are no valid output columns.
- Version
v2.0.0
- Date
2020-11-20
- Description
- “Added”
Add TCP command
get_lidar_data_format
.Add in
azimuth_window
documentation.Add in commands
phase_lock_enable
andphase_lock_offset
and their documentation.Add in verbose responses to parameter validation for TCP commands.
Add in command
save_config_params
which supersedes the deprecated commandwrite_config_txt
, which will be deleted in future firmware.Add in command
get_config_param active
in favor of the deprecated commandget_config_txt
, which will be deleted in future firmware.Add in new STANDBY and WARMUP statuses.
Add in parameter
operating_mode
in favor of the deprecated parameterauto_start_flag
, which will be deleted in future firmware.Add in parameter
udp_dest
in favor of the deprecated parameterudp_ip
, which will be deleted in future firmware. This is to be consistent with theset_udp_dest_auto
parameter and to reflect that valid values can be hostnames in addition to ip addresses.Add in HTTP GET
api/v1/diagnostic/dump
endpoint.
- “Removed”
Remove deprecated TCP command
set_udp_ip
.
- “Changed”
TCP command
get_beam_intrinsics
now returns: 1)lidar_origin_to_beam_origin_mm
, distance between the lidar origin and the beam origin in millimeters; and 2) beam altitude and azimuth angle arrays with padded zeros removed.azimuth_window
parameter now in terms of millidegrees and implemented CCW.Deprecate
api/v1/system/time/
HTTP API and its sub-APIs and replace withapi/v1/time/
- Version
v1.13.0
- Date
- Description
- “Added”
Add TCP command
set_udp_dest_auto
TCP command
get_alerts
, includes more descriptive errors for troubleshooting
- “Changes”
Packet Status now called Azimuth Data Block Status and is calculated differently
Packets with bad CRC are now dropped upstream and replaced with
0
padded packets to ensure all packets are sent for each frame.Return format of TCP command
get_time_info
updated
- “Removed”
Removed reference to window_rejection_enable
- Version
v1.12.0
- Date
- Description
- “Changes”
Corrected IMU axis directions to match Sensor Coordinate Frame.
Sensor Coordinate Frame section of sensor user manual for details on sensor coordinate frame. This change inverts IMU X, Y, and Z axis relative to v1.11.0.
- Version
v1.11.0
- Date
2019-03-25
- Description
Add section on HTTP API commands.
TCP Port now hard-coded to 7501; port is no longer configurable.
Update to SYNC_PULSE_IN and MULTIPURPOSE_IO interface and configuration parameters (see details below).
- Configuration parameters name changes:
pps_in_polarity
changed tosync_pulse_in_polarity
pps_out_mode
changed tomultipurpose_io_mode
pps_out_polarity
changed tosync_pulse_out_polarity
pps_rate
changed tosync_pulse_out_frequency
pps_angle
changed tosync_pulse_out_angle
pps_pulse_width
changed tosync_pulse_out_pulse_width
- New configuration parameters:
nmea_in_polarity
nmea_ignore_valid_char
nmea_baud_rate
nmea_leap_seconds
- Configuration parameters option changes:
timestamp_mode -
TIME_FROM_PPS
changed toTIME_FROM_SYNC_PULSE_IN
multipurpose_io_mode (formerly pps_out_mode) -
OUTPUT_PPS_OFF
changed toOFF
-OUTPUT_FROM_PPS_IN_SYNCED
changed toOUTPUT_FROM_SYNC_PULSE_IN
- RemovedOUTPUT_FROM_PPS_DEFINED_RATE
- AddedINPUT_NMEA_UART
- TCP command changes:
- Added commands:
get_time_info
- Changed commands:
get_config_txt
(returned dictionary keys match parameter changes)
- Removed commands:
set_pps_in_polarity
get_pps_out_mode
set_pps_out_mode
get_timestamp_mode
set_timestamp_mode
Polarity changes: *
sync_pulse_in_polarity
was corrected to match parameter naming. *sync_pulse_out_polarity
was corrected to match parameter naming.- Version
v1.10.0
- Date
2018-12-11
- Description
- “Added”
Add
get_alerts
,pps_rate
andpps_angle
usage commands and expected output.
- “Removed”
Remove all references of
pulse_mode
.Remove TCP commands prior to v1.5.1.
- Version
v1.9.0
- Date
2018-10-24
- Description
- “Changes”
No TCP command change.
- Version
v1.8.0
- Date
2018-10-11
- Description
get_sensor_info
command givesINITIALIZING
,UPDATING
,RUNNING
,ERROR
andUNCONFIGURED
status.
- Version
v1.7.0
- Date
2018-09-05
- Description
- “Changes”
No TCP command change.
- Version
v1.6.0
- Date
2018-08-16
- Description
- “Added”
Add
get_sensor_info
command givesprod_line
info.