Sensor Features

Cold Start

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Cold-start allows the sensor to self-heat before entering normal operation when it detects a low environmental temperature.

Note: For Rev 7 Sensors, please use FW 3.0.0 and later.

Hardware Requirements

Gen 1 sensors are not cold-start-compatible on any firmware. All sensors enter the warmup state at low temperatures, but only Gen 2 sensors successfully exit warmup into normal operating state.

Cold Start Operation

No configuration change is required. The sensor automatically warms up at the cold end of its operating temperature range.

Product LineMin Temp Specs
OS0* -40°C min operating temp * 8 mins to SENSOR_RUNNING * 12 mins to lasers at temp (full range) * 28W peak power
OS1* -40°C min operating temp * 8 mins to SENSOR_RUNNING * 12 mins to lasers at temp (full range) * 28W peak power
OS1-MAX* Same cold-start behavior as OS1 * Requires firmware v4.0 or later (Rev8)
OS2* -20°C min operating temp * 15 mins to SENSOR_RUNNING * 15 mins to lasers at temp (full range) * 30W peak power

Indications and Alerts

During cold start, the sensor emits a "WARMUP" status to indicate it is in the warmup phase.

$curl -i http://os-991234567890.local/api/v1/sensor/metadata/sensor_info
1{
2  "build_date": "2023-1-15T15:56:07Z",
3  "build_rev": "v3.0.0",
4  "image_rev": "ousteros-image-prod-bootes-v3.0.0+0123456789",
5  "initialization_id": 9599937,
6  "prod_line": "OS-1-128",
7  "prod_pn": "860-000000-00",
8  "prod_sn": "991234567890",
9  "status": "WARMUP"
10}

The following alerts are related to cold start:

IDCategoryLevelDescription
0x01000053WARMUP_ISSUEERRORSensor warmup process has failed. Unit is shutting down. Check that operating conditions are within bounds. Contact Ouster support with a diagnostics file.
0x0100004FWARMUP_ISSUEWARNINGSensor warmup is taking longer than expected. Ensure the sensor is thermally constrained per requirements. Contact Ouster support with a diagnostics file.