Release Notes
Note
This section provides more information on certain bug fixes which might help users understand correct working/operation of the sensor.
Sensor restarts after long-term continuous operation
Change Type:
Firmware Bug (Affects FW v3.0, FW v2.5.2 and prior)
Approximate implementation date of bug fix in Firmware:
FW 2.5.3 is currently available as of 01/15/2024 and FW 3.1 will be available in Q1 2024.
Description of change:
All Ouster lidars running firmware versions prior to v2.5.3 and v3.1 will restart approximately every 36 - 118 days when left continuously operating in the RUNNING
state; after three of such restarts sensors will enter ERROR
state requiring a power cycle of the sensor. The issue is fixed in firmware versions v2.5.3 and v3.1. This issue can be mitigated by proactively fully power cycling the sensor at least once every 36 days.
Benefit of change:
All customers are strongly recommended to upgrade to the latest firmware version that fixes this issue. If this is not possible, refer to Proposed workaround section for a way to mitigate the issue.
Affected Products:
For sensors running firmware versions 1.x or 2.x, all firmware versions prior to 2.5.3.
For sensors running firmware versions 3.x, all firmware versions prior to 3.1.
Across all HW versions (Gen1, RevC, RevD, Rev5, Rev6, Rev7), all sensor variants OS0, OS1, OS2, OSDome.
Detailed description:
Sensors operating in the RUNNING
state continuously (without restart/Power-cycle) will continue to operate until approximately the specified number of days in the table below have elapsed. This timeframe is contingent on the configured lidar mode. After this number of days elapses, if the sensor remains in the RUNNING
state, it will restart automatically and raise alerts 0x100003d
and 0x100003e
, and go back to the RUNNING
state. After this time period elapses 3 times, the sensor will transition to the ERROR
state and log the alert 0x1000040
.
Sensor state |
Lidar mode |
Approximate time until automatic restart |
Maximum restarts until ERROR state |
---|---|---|---|
INITIALIZING |
N/A |
N/A |
N/A |
ERROR |
N/A |
N/A |
N/A |
STANDBY |
N/A |
N/A |
N/A |
RUNNING |
2048x10, 1024x20 |
~36 days |
3 |
RUNNING |
1024x10, 512x20 |
~67 days |
3 |
RUNNING |
512x10 |
~118 days |
3 |
Note
All customers are strongly recommended to upgrade to the latest firmware version that fixes this issue. If this is not possible, please refer to the Proposed workaround section below for a way to mitigate the issue.
Proposed workaround
Some customers may not be able to update the firmware version to the latest firmware version. In such cases the following workarounds can be used:
Mitigation 1:
The error condition can be preempted by the user proactively power cycling the sensor at a convenient time before the error occurs.
Mitigation 2:
Send any compatible Ouster firmware update to the sensor using the dry_run=1
argument. This will not actually perform any update and the sensor will restart afterwards.
Example Command (Linux):
curl -vH 'Content-Type: application/octet-stream' --data-binary @ousteros-image-prod-bootes-v3.0.1+20230209044733.img 'http://192.0.2.123/api/v1/system/firmware?dry_run=1'
POST /api/v1/system/firmware?dry_run=1 HTTP/1.1
Host: 192.0.2.123
User-Agent: curl/7.68.0
Accept: */*
Content-Type: application/octet-stream
Content-Length: 42134428
Expect: 100-continue
Mark bundle as not supporting multiuse
HTTP/1.1 100 Continue
We are completely uploaded and fine
Mark bundle as not supporting multiuse
HTTP/1.1 204 No Content
Server: nginx
Date: Thu, 28 Apr 2022 17:49:58 GMT
Connection: keep-alive
Connection #0 to host 192.0.2.123 left intact
Mitigation 3:
Update the sensor firmware with the same firmware version running on the sensor. The sensor will automatically restart after the update completes.
Example Command (Linux):
curl -vH 'Content-Type: application/octet-stream' --data-binary @ousteros-image-prod-bootes-v3.0.1+20230209044733.img 'http://192.0.2.123/api/v1/system/firmware'
POST /api/v1/system/firmware HTTP/1.1
Host: 192.0.2.123
User-Agent: curl/7.68.0
Accept: */*
Content-Type: application/octet-stream
Content-Length: 42134428
Expect: 100-continue
Mark bundle as not supporting multiuse
HTTP/1.1 100 Continue
We are completely uploaded and fine
Mark bundle as not supporting multiuse
HTTP/1.1 204 No Content
Server: nginx
Date: Thu, 28 Apr 2022 17:49:58 GMT
Connection: keep-alive
Connection #0 to host 192.0.2.123 left intact
Sensor Firmware can also be updated by using the Sensor WebUI. Please refer to the Web Interface for more information on how to update the firmware using the Sensor WebUI.
Mitigation 4:
Alternatively, performing DELETE
of the sensor configuration will also cause the sensor to reboot and reset the internal counter. After DELETE
of the sensor configuration is performed, the sensor can be reconfigured. Issuing a reinit
command or reconfiguring the sensor will not reset this counter or prevent this error condition from occurring.
DELETE /api/v1/sensor/config
Example HTTP command:
http DELETE 192.0.2.123/api/v1/sensor/config
Example curl command:
curl -i -X DELETE http://192.0.2.123/api/v1/sensor/config -H 'Content-Type: application/json'
DELETE /api/v1/sensor/config HTTP/1.1
Host: 192.0.2.123
curl -i -X DELETE http://192.0.2.123/api/v1/sensor/config
http DELETE http://192.0.2.123/api/v1/sensor/config
requests.delete('http://192.0.2.123/api/v1/sensor/config')
HTTP/1.1 204 No Content
Connection: keep-alive
Date: Mon, 10 Jul 2023 17:12:47 GMT
Server: nginx
Note
In addition to the sensor configuration being reset to the factory default settings, fields such as Static IP override, PTP profiles and the User Editable Data filed will be reset. Each of these mitigations resets the internal counters and will need to be performed periodically before the error occurs to be effective.
Recovery:
If the sensor reaches the ERROR
state because it operated for long enough and a workaround was not performed, the counter can be reset by reconfiguring the sensor or issuing a reinit
API command.
In case of any questions or concerns, Please contact Ouster Support.
Firmware Changelog
- Version
v2.5.3
- Date
2024-01-15
- Description
Note
FW v2.5.3 is compatible with all Rev06, Rev05, RevC, RevD sensors and Rev 7 OS2 (FW v2.5.x or later required). For all other Rev7.x (OS0,OS1 & OSDome) sensors please refer to FW v3.x user manual. GEN 1 Sensors are NOT compatible with FW v2.5.
Added
Support for additional part number (Part Number: 840-104704-04).
Alerts and Errors table has been updated to include two new alerts:
0x01000082
and0x01000083
.
Fixed
Fixed timestamp loop in PPS mode when PPS signal is lost. Timestamp will free-run instead of looping.
Fixed sensor error that occurred when using continuously for 1-4 months depending on mode. Please refer to Release Notes for more information.
Allow IMU port to be set to
0
to disable IMU packet transmission.
Updated
Improved robustness for Rev 7 OS-2 sensor cold start.
Reduced false positives for
VCSEL_CURRENT_LOW
alert.Improved the reliability of the startup process which previously caused alert
0x01000026
.Improved motor stability when decelerating to lower RPM during lidar mode switches.
Minor PTP software update and reduced fault recovery time.
Improved existing alerts to notify users when the network is not reachable. This enhancement enables users to promptly address connectivity issues, improving the overall reliability of the system.
- Version
v2.5.2
- Date
2023-07-14
- 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”
Bug Fix in PPS/NMEA lock and time synchronisation.
Bug Fix in NMEA timestamp values output by the sensor.
Bug fix to reduce packet loss under sensor vibration.
Note
Sensor previously rounded the timestamp to the nearest decimal value, this is a bug and has now been fixed to output fractional decimal timestamp values.
- “Updated”
Alerts table to match description in Firmware, no change to the alert functionality.
- “Added”
Support for additional part numbers (Part Number: 830-104500-A).
- Version
v2.5.1
- Date
2023-04-24
- Description
- “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
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
andproto_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”
Additional Channel Data Profiles (Single Return Profile, Low Data Rate Profile) were added as part of the Configurable Data Packet Format, refer to Configurable Data Packet Format.
Additional options for config parameter udp_profile_lidar, refer to Description- Configurable Parameters.
New TCP command get_telemetry, refer to Sensor Status and Calibration.
- “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