Get all configuration parameters

Set the visible region of interest of the sensor in millidegrees. Only data from within the specified azimuth window bounds is sent. The value should be provisioned as: [min_bound_millideg, max_bound_millideg]

Determines the columns per packet, this parameter is read-only.

Set the rotational offset of the lidar coordinate frame in millidegrees. This parameter allows for angular alignment shifts of the entire lidar coordinate frame, including the starting angle of the first column. As an example, setting lidar_frame_azimuth_offset to 90000 will result in a 90° counter-clockwise rotation of the lidar coordinate frame about the shared Y axis of the stationary sensor coordinate frame. This results in the measurement frame starting at sensor coordinate frame azimuth 270°. All other lidar coordinate frame parameters (such as azimuth_window and phase_lock_offset) are applied relative to this offset.

The horizontal resolution and rotation rate of the sensor. The effective range of the sensor is increased by 15-20% for every halving of the number of points gathered e.g. 512x10 has 15-20% longer range than 512x20.

Set 0, 30, or 50 centimeters to change the sensor’s minimum reported range. Points below the configured minimum range will not be reported. In Short Range mode, only 30 or 50 are permitted.

Note: When min_range_threshold_cm is set to 30 or less, Ouster recommends setting return_order to FARTHEST_TO_NEAREST.

Configure the mode of the MULTIPURPOSE_IO pin. Refer to the Time Synchronization section in the Firmware user manual for a detailed description of each option.

Set the expected baud rate for NMEA UART input \$GPRMC messages.

• 0 - NMEA UART input \$GPRMC messages should be ignored if valid character is not set

• 1 - messages should be used for time syncing regardless of the valid character.

Set the polarity of NMEA UART input \$GPRMC messages. See Time Synchronization section in sensor user manual for NMEA use case.

• ACTIVE_HIGH - UART is active high, idle low, and start bit is after a falling edge

Set an integer number of leap seconds that will be added to the UDP timestamp when calculating seconds since 00:00:00 Thursday, 1 January 1970. For Unix Epoch time, this should be set to 0.

• NORMAL - put the sensor into a normal operating mode

• STANDBY - put the sensor into a low power (5W) operating mode where the motor does not spin and lasers do not fire.

This parameter configures how the lidar returns are ordered. The return order can be set by the user . This parameter applies regardless of the configured udp_profile_lidar and can be used to configure the only reported return in single return UDP profiles.

Note: When min_range_threshold_cm is set to 30 or less, Ouster recommends setting return_order to FARTHEST_TO_NEAREST.

The config parameter signal_multiplier <1/2/3> sets the signal multiplier value.

For 2x and 3x multipliers, the azimuth_window [int, int] parameter sets the azimuth window that the lasers will be enabled in.

The higher the signal multiplier value, the smaller the maximum azimuth window can be.

All sensors have equivalent power draw and thermal output when operating at the max azimuth window for a particular signal multiplier value. Therefore, using an azimuth window that is smaller than the maximum allowable azimuth window with a particular signal multiplier value (excluding 1x) can reduce the power draw and thermal output of the sensor.

However, while this can increase the max operating temp of the sensor, it can also degrade the performance at low temps. This discrepancy will be resolved in a future firmware.

Set the polarity of SYNC_PULSE_IN input, which controls polarity of SYNC_PULSE_IN pin when timestamp_mode is set in TIME_FROM_SYNC_PULSE_IN.

The angle in terms of degrees that the sensor traverses between each SYNC_PULSE_OUT pulse. E.g. a value of 180 means a sync pulse is sent out every 180° for a total of two pulses per revolution and angular frequency of 20 Hz if the sensor is 1024x10 Hz lidar mode. Valid inputs are integers between 0 and 360 inclusive but also limited by the criteria described in the Time Synchronization section of Firmware User Manual.

The output SYNC_PULSE_OUT pulse rate in Hz. Valid inputs are integers >0 Hz, but also limited by the criteria described in the Time Synchronization section of the Firmware User Manual.

Set the polarity of polarity of SYNC_PULSE_OUT output, if the sensor is set as the master sensor used for time synchronization.

Set output SYNC_PULSE_OUT pulse width in ms, in 1 ms increments. Valid inputs are integers greater than 0 ms, but also limited by the criteria described in the Time Synchronization section of Software User Manual.

UDP destination address for lidar and IMU data. Can be a hostname or IP address. Use @auto to automatically set to the client’s IP address.

Multicast TTL (Time To Live) for lidar and IMU UDP packets. Valid range is 1-255.

UDP destination address for Zone Monitor data. Can be a hostname or IP address. Use @auto to automatically set to the client’s IP address.

Multicast TTL (Time To Live) for Zone Monitor UDP packets. Valid range is 1-255. type: integer minimum: 1 maximum: 255 default: 1 header_type: description: The configured UDP packet header type $ref: