Sensor Configuration

Overview

Overview of sensor configuration parameters. For detailed description of each parameter refer to Description.

Overview

Parameter	Type	Valid Values
udp_dest	String	"" (default)
udp_port_lidar	Integer	7502 (default)
udp_port_imu	Integer	7503 (default)
sync_pulse_in_polarity	Keyword	ACTIVE_HIGH (default) ACTIVE_LOW
sync_pulse_out_polarity	Keyword	ACTIVE_LOW (default) ACTIVE_HIGH
sync_pulse_out_frequency	Integer >= 1	1 (default)
sync_pulse_out_angle	Integer [0 … 360]	360 (default)
sync_pulse_out_pulse_width	Integer >= 0	10 (default)
nmea_in_polarity	Keyword	ACTIVE_HIGH (default) ACTIVE_LOW
nmea_ignore_valid_char	Integer	0 (default) 1
nmea_baud_rate	Keyword	BAUD_9600 (default) BAUD_115200
nmea_leap_seconds	Integer >= 0	0 (default)
azimuth_window	List	[0,360000] (default)
signal_multiplier	Number	0.25 0.5 1 (default) 2 3
udp_profile_lidar	Keyword	RNG19_RFL8_SIG16_NIR16 (default) RNG19_RFL8_SIG16_NIR16_DUAL RNG15_RFL8_NIR8 FUSA_RNG15_RFL8_NIR8_DUAL
udp_profile_imu	Keyword	LEGACY (default)
phase_lock_enable	Boolean	false (default) true
phase_lock_offset	Integer [ 0 … 360 ]	0 (default)
lidar_mode	Keyword	512x10 1024x10 (default) 2048x10 512x20 1024x20
timestamp_mode	Keyword	TIME_FROM_INTERNAL_OSC (default) TIME_FROM_PTP_1588 TIME_FROM_SYNC_PULSE_IN
multipurpose_io_mode	Keyword	OFF (default) INPUT_NMEA_UART OUTPUT_FROM_INTERNAL_OSC OUTPUT_FROM_SYNC_PULSE_IN OUTPUT_FROM_PTP_1588 OUTPUT_FROM_ENCODER_ANGLE
operating_mode	Keyword	NORMAL (default) STANDBY
min_range_threshold_cm	Number	0 30 50 (default)
return_order	Keyword	STRONGEST_TO_WEAKEST (Default), NEAREST_TO_FARTHEST FARTHEST_TO_NEAREST
gyro_fsr	Keyword	NORMAL (Default), EXTENDED
accel_fsr	Keyword	NORMAL (Default), EXTENDED

Description

udp_dest

Description:

• Type: String

• Default: “192.0.2.123”

• Destination to which the sensor sends UDP traffic.

Note

As of now, setting the udp_dest to “@auto” is only supported through HTTP POST /api/v1/sensor/config. Parameter udp_ip has been deprecated in firmware v2.4, please use the udp_dest parameter.

udp_port_lidar

Description:

• Type: Integer [ 0 … 65535 ]

• Default: 7502

• The <port> on udp_dest to which lidar data will be sent (7502, default).

udp_port_imu

Description:

• Type: Integer [ 0 … 65535 ]

• Default: 7503

• The <port> on udp_dest to 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 Firmware 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 Firmware 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 Firmware 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_HIGH if 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 0 if NMEA UART input $GPRMC messages should be ignored if valid character is not set, and 1 if 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) or BAUD_115200 for 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_window parameter 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:

  • “RNG19_RFL8_SIG16_NIR16”

  • “RNG19_RFL8_SIG16_NIR16_DUAL”

  • “RNG15_RFL8_NIR8”

  • “FUSA_RNG15_RFL8_NIR8_DUAL”

• The configuration of the LIDAR data packets. Valid values are RNG19_RFL8_SIG16_NIR16 [Default], RNG19_RFL8_SIG16_NIR16_DUAL, RNG15_RFL8_NIR8 and FUSA_RNG15_RFL8_NIR8_DUAL.

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 NORMAL to put the sensor into a normal operating mode or STANDBY to 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.

min_range_threshold_cm

Description:

• Type: Number

• Default:

  • 50 (default)

• Enum:

  • 30

  • 0

• Set 0 or 30 (centimeters) to change the sensor’s minimum reported range. Points below the configured minimum range will not be reported. This parameter is present in firmware v3.1 and newer.

Note

When min_range_threshold_cm is set to 30 or less, Ouster recommends setting return_order to FARTHEST_TO_NEAREST.

return_order

Description:

• Type: Keyword

• Default:

  • STRONGEST_TO_WEAKEST

• Enum:

  • NEAREST_TO_FARTHEST

  • FARTHEST_TO_NEAREST

• This parameter configures how the lidar returns are ordered. The return order can be set by the user (STRONGEST_TO_WEAKEST``(default), ``NEAREST_TO_FARTHEST AND FARTHEST_TO_NEAREST). This parameter applies regardless of the configured udp_profile_lidar and can be used to configure the only reported return in single return UDP profiles. This parameter is present in firmware v3.1 and newer.

Note

When min_range_threshold_cm is set to 30 or less, Ouster recommends setting return_order to FARTHEST_TO_NEAREST.

gyro_fsr

Description:

• Type: Keyword

• Default:

  • NORMAL

• Enum:

  • NORMAL

  • EXTENDED

• Two valid values for gyro_fsr are NORMAL (Default), EXTENDED. Please refer to GET /api/v1/sensor/metadata/imu_data_format for more information.

• This configuration parameter enables modification of the gyroscope scale. It provides two settings:

  • NORMAL (Default): Digital-output X-, Y-, Z-axis with a full-scale range fixed at ± 250 dps (°/sec).

  • EXTENDED: Digital-output X-, Y-, Z-axis with a programmable full-scale range of ± 2000 dps (°/sec).

accel_fsr

Description:

• Type: Keyword

• Default:

  • NORMAL

• Enum:

  • NORMAL

  • EXTENDED

• Two valid values for accel_fsr are NORMAL (Default), EXTENDED. Please refer to GET /api/v1/sensor/metadata/imu_data_format for more information.

• This configuration parameter facilitates adjustment of the accelerometer scale. It offers two settings:

  • NORMAL (Default): Digital-output X-, Y-, Z-axis with a full-scale range fixed at ± 2g.

  • EXTENDED: Digital-output X-, Y-, Z-axis with an expanded full-scale range of ± 16g.