Changelog

Changelog

May 1, 2024

Firmware v3.1.0

Firmware versions 3.0 and later are only compatible on OS0, OS1, and OSDome hardware versions Rev7 and later. Refer to firmware 2.x or earlier if you have Rev7 OS2, Rev 06 OS0/OS1/OS2, or earlier generation sensors.

Firmware v3.1.0

Date: May 2024

Added

  • Add Low Data Rate Dual Return profile, FUSA_RNG15_RFL8_NIR8_DUAL.
  • Add config parameter for min_range_threshold_cm.
  • Add config parameter for return_order.
  • Add config parameter for Delete Config.
  • Add PTP L2 E2E support via a new PTP profile, default-l2-relaxed.
  • Add new alerts. See the Alerts and Errors page for more information.
  • Add config parameter for user-editable data in the API user guide. This field can be used for storing sensor-specific information, qualifying a sensor, calibration data, or other information.
  • Add config parameter to restart or reinitialize a sensor.
  • Add End-to-End Cyclic Redundancy Check (CRC) in configurable data packet format.
  • Add config parameter for IMU data packet. Users can get imu_data_format and POST config to change gyro_fsr and accel_fsr from NORMAL to EXTENDED.
  • Add Alert Flags in lidar data packet. All udp_lidar_profile values have been updated to include alert flags at the packet level.

Improved

  • Improved robustness for cold start.
  • Reduced the occurrence of false alerts for VCSEL_CURRENT_LOW.
  • 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 overall system reliability.
  • Improved startup time and reinit time by approximately 10-15 seconds.
  • Improved sensor web UI to display client and UDP destination address.
  • Allow IMU port to be set to 0 to disable IMU packet transmission.
  • Improved recovery after Ethernet link loss that previously caused UDP stream to stall.

Fixed

  • Apply PPS setting in STANDBY so api/v1/time/sensor reflects provisioned configuration in STANDBY.
  • Fixed handling of NMEA messages with fractional seconds. Previously, if an NMEA sentence contained a fractional second time, the sensor rounded the fraction up, resulting in a future timestamp.
  • Fixed PPS/NMEA lock and time synchronization. Previously, the sensor did not lock when GPS was connected and Sync Pulse In was selected.
  • Correct IMU polling rate to 100hz.
  • Fixed get-alerts-http input cursor correctly limits alert log.
  • 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.
  • Support for local udp_dest address via sensor web UI.
  • Fixed a bug where lidar starts to send data when powering on before establishing connection with the client machine.
  • Fixed a bug where the sensor would be stuck in UNKNOWN state during multiple API requests while streaming point clouds.
  • Fixed Alert section categories changed from WARNING to ERROR. No functional changes to alert behavior.
  • Fixed a bug in point cloud behavior that caused highly reflective objects below minimum range to make other objects disappear.
  • Fixed a bug that prevents sensor from going into ERROR stopped state or restarting while doing cold start. This improves reliability and robustness of the cold start path.

Changed

  • Replaced mDNS name from _roger._tcp to _ouster-lidar._tcp. _roger._tcp is in planned deprecation.
  • Replaced alert category for CONFIG_INVALID to CONFIG. See the Alerts and Errors page for more information.

Removed

  • TCP API has been deprecated in firmware 3.1. Use the HTTP API instead.
  • LEGACY data packet profile has been deprecated. See the Sensor Data page for more information.