Sensor Configuration
Configurable Parameters
Please find a list of all config_param that can be used to configure the sensor below. For detailed description of each parameter refer to Description- Configurable Parameters.
Parameter |
Type |
Valid Values |
|---|---|---|
|
String |
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Integer |
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Integer |
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|
Keyword |
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|
Keyword |
|
|
Integer >= 1 |
|
|
Integer [0 … 360] |
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Integer >= 0 |
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|
Keyword |
|
|
integer [ 0 … 1 ] |
|
|
Keyword |
|
|
Integer >= 0 |
|
|
List |
|
|
number [ 0.25, 0.5, 1 … 3 ] |
|
|
Keyword |
|
|
Keyword |
|
|
Boolean |
|
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Integer [ 0 … 360 ] |
|
|
Keyword |
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|
Keyword |
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|
Keyword |
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|
Keyword |
|
Description- Configurable Parameters
udp_dest
Description:
Type: String
Default: “169.254.26.118”
Destination to which the sensor sends UDP traffic.
Note
As of now, setting the udp_dest to “@auto” is not supported through the set_config_param TCP command. It is only supported through HTTP endpoint POST /api/v1/sensor/config, and the set_udp_dest_auto using TCP command. udp_ip flag has been deprecated in Firmware 2.4, please use udp_dest flag.
udp_port_lidar
Description:
Type: Integer [ 0 … 65535 ]
Default: 7502
The
<port>onudp_destto which lidar data will be sent (7502, default).
udp_port_imu
Description:
Type: Integer [ 0 … 65535 ]
Default: 7503
The
<port>onudp_destto which IMU data will be sent (7503, default).
sync_pulse_in_polarity
Description:
Type: Keyword
Default: “ACTIVE_HIGH”
- Enum:
“ACTIVE_HIGH”
“ACTIVE_LOW”
The polarity of SYNC_PULSE_IN input, which controls polarity of SYNC_PULSE_IN pin when timestamp_mode is set in
TIME_FROM_SYNC_PULSE_IN.
sync_pulse_out_polarity
Description:
Type: Keyword
Default: “ACTIVE_HIGH”
The polarity of SYNC_PULSE_OUT output, if the sensor is set as the master sensor used for time synchronization.
sync_pulse_out_frequency
Description:
Type: Integer >= 1
Default: 1
The output SYNC_PULSE_OUT pulse rate in Hz. Valid inputs are integers >0 Hz, but also limited by the criteria described in the Time Synchronization section of the Software User Manual.
sync_pulse_out_angle
Description:
Type: Integer [ 0 … 360 ]
Default: 360
The angle in terms of degrees that the sensor traverses between each SYNC_PULSE_OUT pulse. E.g. a value of 180 means a sync pulse is sent out every 180° for a total of two pulses per revolution and angular frequency of 20 Hz if the sensor is 1024x10 Hz lidar mode. Valid inputs are integers between 0 and 360 inclusive but also limited by the criteria described in the Time Synchronization section of Software User Manual.
sync_pulse_out_pulse_width
Description:
Type: Integer >= 0
Default: 10
The polarity of SYNC_PULSE_OUT output, if the sensor is set as the master sensor used for time synchronization. Output SYNC_PULSE_OUT pulse width is in ms, increments in 1 ms. Valid inputs are integers greater than 0 ms, but also limited by the criteria described in the Time Synchronization section of Software User Manual.
nmea_in_polarity
Description:
Type: Keyword
Default: “ACTIVE_HIGH”
- Enum:
“ACTIVE_HIGH”
“ACTIVE_LOW”
Set the polarity of NMEA UART input $GPRMC messages. See Time Synchronization section in sensor user manual for NMEA use case. Use
ACTIVE_HIGHif UART is active high, idle low, and start bit is after a falling edge.
nmea_ignore_valid_char
Description:
Type: Integer [ 0 … 1 ]
Default: 0
Set
0if NMEA UART input $GPRMC messages should be ignored if valid character is not set, and1if messages should be used for time syncing regardless of the valid character.
nmea_baud_rate
Description:
Type: Keyword
Default: “BAUD_9600”
- Enum:
“BAUD_9600”
“BAUD_115200”
BAUD_9600(default) orBAUD_115200for the expected baud rate the sensor is attempting to decode for NMEA UART input $GPRMC messages.
nmea_leap_seconds
Description:
Type: Integer >= 0
Default: 0
Set an integer number of leap seconds that will be added to the UDP timestamp when calculating seconds since 00:00:00 Thursday, 1 January 1970. For Unix Epoch time, this should be set to
0.
azimuth_window
Description:
Type: List
Default: [0,360000]
Set the visible region of interest of the sensor in millidegrees. Only data from within the specified azimuth window bounds is sent. The value should be provisioned as: [min_bound_millideg, max_bound_millideg]
signal_multiplier
Description:
Type: Number [ 0.25, 0.5, 1 … 3 ]
Default: 1
The value that the signal_multiplier is configured. By default the sensor has a signal multiplier value of
1.For 2x and 3x multipliers, the
azimuth_windowparameter sets the azimuth window that the lasers will be enabled in.The higher the signal multiplier value, the smaller the maximum azimuth window can be.
Signal Multiplier Value Max Azimuth Window for 0.25, 0.5 and 1: ( Default) 360°, 2: 180°, 3: 120°.
All sensors have equivalent power draw and thermal output when operating at the max azimuth window for a particular signal multiplier value. Therefore, using an azimuth window that is smaller than the maximum allowable azimuth window with a particular signal multiplier value (excluding 1x) can reduce the power draw and thermal output of the sensor.
However, while this can increase the max operating temp of the sensor, it can also degrade the performance at low temps. This discrepancy will be resolved in a future firmware. The table below outlines some example use cases.
udp_profile_lidar
Description:
Type: Keyword
Default: “RNG19_RFL8_SIG16_NIR16”
- Enum:
“LEGACY”
“RNG19_RFL8_SIG16_NIR16”
“RNG19_RFL8_SIG16_NIR16_DUAL”
“RNG15_RFL8_NIR8”
The configuration of the LIDAR data packets. Valid values are
LEGACY,RNG19_RFL8_SIG16_NIR16[Default],RNG19_RFL8_SIG16_NIR16_DUAL,RNG15_RFL8_NIR8.
udp_profile_imu
Description:
Type: Keyword
Default: “LEGACY”
Value: “LEGACY”
The configuration of the IMU data packets. Valid value is
LEGACY.
phase_lock_enable
Description: Whether phase locking is enabled. Refer to Phase Lock Section in the Firmware User Manual for more details on using phase lock.
Type: Boolean
Default: False
Whether phase locking is enabled. Refer to Phase Lock Section in the Firmware User Manual for more details on using phase lock.
phase_lock_offset
Description:
Type: Integer [ 0 … 360000 ]
Default: 0
The angle in the Lidar Coordinate Frame that sensors are locked to in millidegrees if phase locking is enabled. Angle is traversed at the top of the second.
lidar_mode
Description:
Type: Keyword
Default: “1024x10”
- Enum:
“512x10”
“1024x10”
“2048x10”
“512x20”
“1024x20”
The horizontal resolution and rotation rate of the sensor. The effective range of the sensor is increased by 15-20% for every halving of the number of points gathered e.g. 512x10 has 15-20% longer range than 512x20.
timestamp_mode
Description:
The method used to timestamp measurements. Valid modes are TIME_FROM_INTERNAL_OSC, TIME_FROM_SYNC_PULSE_IN, or TIME_FROM_PTP_1588.
multipurpose_io_mode
Description:
Type: Keyword
Default: “OFF”
- Enum:
“OFF”
“INPUT_NMEA_UART”
“OUTPUT_FROM_INTERNAL_OSC”
“OUTPUT_FROM_SYNC_PULSE_IN”
“OUTPUT_FROM_PTP_1588”
“OUTPUT_FROM_ENCODER_ANGLE”
Configure the mode of the MULTIPURPOSE_IO pin. Refer to Time Synchronization section in Firmware user manual for a detailed description of each option.
operating_mode
Description:
Type: Any
Default: “NORMAL”
Set
NORMALto put the sensor into a normal operating mode orSTANDBYto put the sensor into a low power (5W) operating mode where the motor does not spin and lasers do not fire.
Note
auto_start_flag is deprecated parameter in Firmware 2.4 and later. auto_start_flag 0 is equivalent to operating_mode STANDBY and auto_start_flag 1 is equivalent to operating_mode NORMAL.