Firmware Changelog
- Version
v3.0.1
- Date
2023-02-08
- Description
- “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): 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
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