Changelog

Changelog

February 1, 2026

Firmware v3.2.0

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 v3.2.0

Date: February 2026

Added

  • Zone Monitor: Added support for the new Zone Monitor feature.
  • Window Signal: Added 8-bit Window Signal value for dirty or blocked window interpretation.
  • Multicast: Added multicast routing support by allowing TTL configuration > 1.
  • Default Gateway: Added the ability to set a static IP to specify a default route.
  • Input-only MIO: Added the ability to query input levels of MIO pins.
  • Frame Start Control: Added configurable start of frame functionality.
  • OpenAPI: Included OpenAPI v3.1.1 specification on the sensor.
  • IMU Profile: Added new ACCEL32_GYRO32_NMEA IMU UDP packet format.

Improved

  • Reflectivity: Improved accuracy and uniformity of Calibrated Reflectivity.
  • IMU: Synchronous IMU improvements and bug fixes for the HTTP endpoint.
  • Bloom: Blooming reduction to result in fewer False Positives (FP) and False Negatives (FN) near retro-reflectors. The feature is user-configurable with two modes available: Balanced (Default) and Minimize False Positives.
  • Thermal Management: General thermal improvements compared to Firmware v3.1.
  • Web UI: Comprehensive update to the web interface including support for Static IP Gateway, User Editable Data, OpenAPI spec, and Zone Monitor.
  • Web UI API: Updated Web UI to use PUT with exact URIs to update individual configuration keys.
  • API Validation: Improved validation of static IPv4 addresses.
  • mDNS: Improved protocol compliance for mDNS.
  • Firmware Update (FWUP): Improved status reporting via update_status under api/v1/system/firmware.

Fixed

  • Thermal/TEC: Fixed issue causing unnecessary thermal cycling of the TEC; implemented full recovery from thermal shutdown with proper reinitialization.
  • System Stability: Fixed TX-board initialization parameters and implemented uplink auto-reinitialization to recover from communication failures.
  • Alerts: Updated PHASE_LOCK_LOST alert to include error amount in message for better diagnostics; added WLP_STARTUP_FAILURE alert if CALIBRATE_SENSORS state fails.
  • Lidar Data: Suppressed missed lidar data alerts during diagnostic dump generation.
  • Synchronization: Fixed issue where NMEA lock toggled constantly even when MPIO was disconnected.
  • MIO: Fixed bug in ENCODER_ANGLE_OUT mode for Multipurpose IO.

Changed

  • Packet Header: FuSa configurable packet header now available.
  • API Formatting: The config endpoint and set_config_param no longer accept dotted parameters; forward slash / must be used as a delimiter for beta parameters.

Removed/Deprecated

  • TCP Command Server: Removed. TCP command support has been dropped; users must use the HTTP API.
  • Undocumented API: Deprecated undocumented API commands.
  • Legacy Parameters: Deprecated /api/v1/config legacy parameters.
  • Lidar Profile: Deprecated LEGACY lidar profile; will be removed in Firmware v4.0.
  • IMU Profile: Deprecated LEGACY IMU profile; will be removed in Firmware v4.0.