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 and proto_rev

“Fixed”
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 and phase_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 command write_config_txt, which will be deleted in future firmware.

  • Add in command get_config_param active in favor of the deprecated command get_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 parameter auto_start_flag, which will be deleted in future firmware.

  • Add in parameter udp_dest in favor of the deprecated parameter udp_ip, which will be deleted in future firmware. This is to be consistent with the set_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 with api/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 to sync_pulse_in_polarity

  • pps_out_mode changed to multipurpose_io_mode

  • pps_out_polarity changed to sync_pulse_out_polarity

  • pps_rate changed to sync_pulse_out_frequency

  • pps_angle changed to sync_pulse_out_angle

  • pps_pulse_width changed to sync_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 to TIME_FROM_SYNC_PULSE_IN

  • multipurpose_io_mode (formerly pps_out_mode) - OUTPUT_PPS_OFF changed to OFF - OUTPUT_FROM_PPS_IN_SYNCED changed to OUTPUT_FROM_SYNC_PULSE_IN - Removed OUTPUT_FROM_PPS_DEFINED_RATE - Added INPUT_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 and pps_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 gives INITIALIZING, UPDATING, RUNNING, ERROR and UNCONFIGURED 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 gives prod_line info.