Firmware Changelog

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): 1. GET /api/v1/sensor/config. 2. 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”

• 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