Firmware Changelog

Version

v2.5.1

Date

2023-04-24

Description

Firmware version 2.5.x is a minimum requirement for Rev7 OS2. GEN 1 Sensors are not compatible with FW 2.5 and later. Please refer to FW 3.x or later if you have hardware versions Rev7 (OS0,OS1 & OSDome) sensors.

“Fixed”

  • Thermal shutdown behavior

  • Bug in get_alerts API

Version

v2.5.0

Date

2023-04-05

Description

“Fixed”

  • OS-0 Beam Angle Fix (No changes on OS-1 and OS-2)

  • Improved accuracy of the beam angles that are reported by the lidar sensor.

  • Changes only the queried values and not the actual beam angles.

Note

Applicable to Rev6 and prior hardware except Gen 1 sensors.

“Added”

  • End-to-End Cyclic Redundancy Check (CRC). Please refer to Configurable Data Packet Format for more information.

  • Alerts flags in Configurable data packet format.

  • Shot limiting status flags in Configurable data packet format.

  • New Signal multiplier modes 0.25, 0.5.

  • Azimuth Laser Masking.

  • New HTTP command for User Editable Data field. Please refer to User Editable Data for more information.

“Changed”

  • Default value of config parameter udp_profile_lidar is changed to RNG19_RFL8_SIG16_NIR16.

  • FW v2.5 will not support Gen1 sensors.

  • beam_to_lidar_transform for Rev7 OS2 sensors.

  • Limitation to signal multiplier modes on Rev7 OS2 sensors. Please refer to Signal Multiplier section for more information.

“Updated”

  • Alerts and Errors table has been updated to provide more information on each individual alert.

Version

v3.0.1

Date

2023-02-08

Description

Firmware versions (3.0 & later) are only compatible on OS0/OS1/OSDome Hardware versions Rev7 and later. Please refer to FW 2.x or prior if you have hardware versions Rev7 OS2, Rev 06 OS0/OS1/OS2 and prior generation sensors.

“Updated”

  • beam_to_lidar_transform for Rev7 OS0 and OS1 sensors.

  • lidar_to_sensor_transform for Rev7 OSDOME sensors.

“Added”

  • New HTTP Command to configure speed override (Refer to System)

Version

v3.0.0

Date

2023-01-26

Description

Firmware versions (3.0 & later) are only compatible on OS0/OS1/OSDome Hardware versions Rev7 and later. Please refer to FW 2.x or prior if you have hardware versions Rev7 OS2, Rev 06 OS0/OS1/OS2 and prior generation sensors.

“Fixed”

  • Bug Fix in High Input Voltage Alert behavior.

  • Bug in keep-alive behavior for HTTP 1.1.

  • Bug fix in get_lidar_data_format.

“Improvements”

  • Improved point cloud behavior due to enhanced retro-reflector range accuracy improvement.

“Changed”

  • Default value of udp_profile_lidar will be set to single return profile. For more information refer to Single Return Profile.

“Added”

  • 1024x20 and 2048x10 lidar modes with dual returns.

  • Shot limiting status flags and thermal shutdown.

  • Azimuth laser masking.

  • Two new Signal multiplier modes - 0.25 and 0.5 Mode.

  • New alerts, refer to Table of All Alerts and Errors.

Version

v2.4.0

Date

2022-08-31

Description

“Fixed”

  • Bug Fix in High Input Voltage Alert behavior.

  • Range aliasing improvement.

  • Bug in keep-alive behavior for HTTP 1.1.

  • Critical bug fix: Heavy vibration can trigger the sensor to reset without any alerts, causing an interruption to the data stream. The data stream will resume in approximately 60s. Note: Only affects FW version 2.3 and later.

“Changed”

  • pixel_shift_by_row value updated.

  • Alerts and Errors table has been updated to provide more information on each individual alert.

“Added”

  • Add the following HTTP Commands to help configure and read the 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 “summary” for get_alerts command.

Note: Valid uses of get_alerts:

  • get_alerts 1 (1 is the value of the cursor).

  • get_alerts summary.

  • get_alerts 2 summary (2 is the value of the cursor).

Invalid uses of get_alerts:

  • get_alerts summary 2.

“Removed”

  • auto_start_flag has been deprecated.

  • udp_ip has been deprecated.

  • base_pn, base_sn and proto_rev have been deprecated.

Version

v2.3.1

Date

2022-06-03

Description

“Fixed”

  • Bug Fix in RNG19_RFL8_SIG16_NIR16 mode.

“Added”

  • Add support for new PN’s.

Version

v2.3.0

Date

2022-04-15

Description

“Added”
“Changed”

  • Reflectivity and Signal value is now from 1 to 255. 0 correspond to an invalid reflectivity and Signal value (similar as Range).

“Fixed”

  • Fixed startup packet drop behavior (5b alert).

Version

v2.2.1

Date

2022-02-17

Description

“Fixed”

  • Fixed point cloud detection on a subset of sensors

Version

v2.2.0

Date

2021-12-18

Description

“Added”

  • Add support for Configurable Data Packet Format

  • Add support for Dual Returns mode

“Changed”

  • Update Sensor Web UI

  • Update TCP command get_lidar_data_format

  • Update TCP command get_sensor_info

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 support for Calibrated Reflectivity

  • Add Config UI to sensor web page (Beta)

  • Add signal multiplier modes to increase signal strength in the enabled azimuth window for gen2 sensors only

  • Add alerts for motor speed

  • Add alerts for unexpected sensor state transition

  • Improve OS2 cold start to -20˚C

  • Improve OS2 signal strength by 16%

“Removed”

  • Delete TCP command set_data_dst_ip

  • Delete TCP command get_data_dst_ip

  • Delete TCP command set_udp_port_lidarAdded PN support for new turntable boards

  • Delete TCP command set_udp_port_imu

  • Delete TCP command get_lidar_mode

  • Delete TCP command set_lidar_mode

  • Delete TCP command get_config_file_path

  • Delete TCP command set_auto_start_flag

  • Delete TCP command get_auto_start_flag

  • Delete TCP command get_watchdog_status

“Changed”

  • Change the Reflectivity values in the packets from 16-bit to 8-bit

“Fixed”

  • Fixed phase locked motor control to handle out-of-bounds motor velocity

  • Slow time sync on initial boot with PTP

  • Fixed azimuth_window parameter logic behavior