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 and 0x01000083.

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 Errata and Notices 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 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